Blur detection device, imaging device, lens device, imaging device main body, blur detection method, and blur detection program

ABSTRACT

Provided are a blur detection device, an imaging device, a lens device, an imaging device main body, a blur detection method, and a blur detection program capable of appropriately detecting blurring of an imaging device. An angular velocity of a digital camera and a posture of the digital camera with respect to an Earth&#39;s rotation axis are detected. An Earth&#39;s rotation angular velocity component superimposed on a detection result of the angular velocity is calculated. The Earth&#39;s rotation angular velocity component is subtracted from the detection result of the angular velocity, and a blur amount of the digital camera is calculated based on the subtracted angular velocity.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a Continuation of U.S. patent applicationSer. No. 16/700,941 filed on Dec. 2, 2019, which is a Continuation ofPCT International Application No. PCT/JP2018/020295 filed on May 28,2018, claiming priority under 35 U.S.C. § 119(a) to Japanese PatentApplication No. 2017-115231 filed on Jun. 12, 2017. Each of the aboveapplications is hereby expressly incorporated by reference, in itsentirety, into the present application.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to a blur detection device, an imagingdevice, a lens device, an imaging device main body, a blur detectionmethod, and a blur detection program.

2. Description of the Related Art

A technology of blur correction in an imaging device is established bycombining a technology of detecting blurring with a technology ofcorrecting the blurring.

An angular velocity sensor method has been known as one of thetechnology of detecting the blurring. In the angular velocity sensormethod, an angular velocity of a shake caused in an imaging device isdetected by an angular velocity sensor, and a blur amount is calculatedby integrating an output thereof.

However, since the angular velocity sensor method is a method ofdetecting the angular velocity, there is a problem that this method isinfluenced by Earth's rotation. That is, the angular velocity due to theEarth's rotation is superimposed on an output of the angular velocitysensor, and thus, there is a problem that the blurring is detected eventhough the imaging device stops.

In the related art, the influence due to the Earth's rotation iseliminated by performing high pass filter processing on the output ofthe angular velocity sensor in the angular velocity sensor method. Forexample, in JP2011-059403A, a cutoff frequency is set such that a lowfrequency generated due to the Earth's rotation is cut, and high passfilter processing is performed on the output of the angular velocitysensor.

SUMMARY OF THE INVENTION

However, in a case where the high pass filter processing is performed onthe output of the angular velocity so as not to be influenced by theEarth's rotation, the angular velocity slower than the Earth's rotationis not able to be detected, and thus, there is a disadvantage thatblurring with a low frequency is not able to be detected. There is alsoan advantage that a limit exposure time at which performance of the blurcorrection is not able to be secured is shortened.

The present invention has been made in view of such circumstances, andan object thereof is to provide a blur detection device, an imagingdevice, a lens device, an imaging device main body, a blur detectionmethod, and a blur detection program which are capable of appropriatelydetecting blurring of an imaging device.

Means for solving the problems are as follows.

(1) A blur detection device comprises an angular velocity detection unitthat detects an angular velocity of an imaging device, a posturedetection unit that detects a posture of the imaging device with respectto an Earth's rotation axis, a rotation angular velocity componentcalculation unit that calculates an Earth's rotation angular velocitycomponent superimposed on an output of the angular velocity detectionunit based on the posture of the imaging device detected by the posturedetection unit, a subtraction unit that subtracts the rotation angularvelocity component calculated by the rotation angular velocity componentcalculation unit from the output of the angular velocity detection unit,and a blur amount calculation unit that calculates a blur amount of theimaging device based on an output of the subtraction unit.

According to the present aspect, the angular velocity of the imagingdevice and the posture of the imaging device with the Earth's rotationaxis are detected. The detection result of the angular velocity is givento the subtraction unit. The detection result of the posture is given tothe rotation angular velocity component calculation unit. The rotationangular velocity component calculation unit calculates the Earth'srotation angular velocity component superimposed on the detection resultof the angular velocity based on the detection result of the posture ofthe imaging device. The calculation result is given to the subtractionunit. The subtraction unit subtracts the Earth's rotation angularvelocity component from the detection result of the angular velocity,and outputs the subtracted value. Accordingly, it is possible toseparate the Earth's rotation angular velocity component from thedetection result of the angular velocity using the angular velocitydetection unit. The output of the subtraction unit is given to the bluramount calculation unit. The blur amount calculation unit calculates theblur amount of the imaging device based on the output of the subtractionunit. The output of the subtraction unit is an angular velocity of atrue shake in which the influence due to the Earth's rotation iseliminated. Accordingly, it is possible to detect the blur amountacquired by eliminating the influence due to the Earth's rotation bydetecting the blur amount based on the output thereof. Accordingly, itis possible to appropriately detect the blurring with the low frequency.

(2) The blur detection device according to (1) further comprises a highpass filter processing unit that performs high pass filter processing onthe output of the subtraction unit, a cutoff frequency of the high passfilter processing unit being set to be a value lower than a frequency ofblurring caused by Earth's rotation.

According to the present aspect, the high pass filter processing unitthat performs the high pass filter processing on the output of thesubtraction unit is further provided. The cutoff frequency of the highpass filter processing unit is set to be the value lower than thefrequency of the blurring caused by the Earth's rotation. Accordingly,it is possible to eliminate the influence of a zero variation such as anoffset error of the angular velocity detection unit or a trigger of anamplifier that amplifies the output of the angular velocity detectionunit. As stated above, since the high pass filter processing is providedfor the purpose of eliminating the influence of the zero variation ofthe output of the angular velocity detection unit, the cutoff frequencyis set to be the value appropriate for the purpose, and is set to be aslow as possible.

(3) The blur detection device according to (2) further comprises aswitch unit that switches an output destination of the subtraction unit.The switch unit determines whether or not the output of the subtractionunit is equal to or less than a threshold value, sets the outputdestination of the subtraction unit to the blur amount calculation unitin a case where the output of the subtraction unit is equal to or lessthan the threshold value, and sets the output destination of thesubtraction unit to the high pass filter processing unit in a case wherethe output of the subtraction unit exceeds the threshold value.

According to the present aspect, the switch unit that switches theoutput destination of the subtraction unit is further provided. Theswitch unit switches the output destination of the subtraction unitbased on the so-called zero output. Specifically, it is determinedwhether or not the output of the subtraction unit is equal to or lessthan the threshold value, and the output destination of the subtractionunit is switched depending on the determination result. In a case wherethe output of the subtraction unit is equal to or less than thethreshold value, the zero variation is deemed not to be present or to benegligibly small, and the output destination of the subtraction unit isset to the blur amount calculation unit. Accordingly, it is possible toappropriately detect the blurring with a lower frequency. Meanwhile, ina case where the output of the subtraction unit exceeds the thresholdvalue, the zero variation is deemed to be large, and the outputdestination of the subtraction unit is set to the high pass filterprocessing unit. Accordingly, it is possible to appropriately eliminatethe influence of the zero variation.

(4) The blur detection device according to (1) further comprises a firsthigh pass filter processing unit that performs high pass filterprocessing on the output of the subtraction unit, a cutoff frequency ofthe first high pass filter processing unit being set to be a valuehigher than a frequency of blurring caused by Earth's rotation, a secondhigh pass filter processing unit that performs high pass filterprocessing on the output of the subtraction unit, a cutoff frequency ofthe second high pass filter processing unit being set to be a valuelower than the frequency of the blurring caused by the Earth's rotation,and a switch unit that switches an output destination of the subtractionunit to the first high pass filter processing unit or the second highpass filter processing unit based on an imaging condition.

According to the present aspect, the first high pass filter processingunit and the second high pass filter processing unit are provided as theprocessing unit that performs the high pass filter processing on theoutput of the subtraction unit. The cutoff frequency of the first highpass filter processing unit is set to be the value higher than thefrequency of the blurring caused by the Earth's rotation, and the cutofffrequency of the second high pass filter processing unit is set to bethe value smaller than the frequency of the blurring caused by theEarth's rotation. The output destination of the subtraction unit isswitched by the switch unit. The switch unit switches the outputdestination of the subtraction unit to the first high pass filterprocessing unit or the second high pass filter processing unit based onthe imaging condition such as the imaging mode.

(5) In the blur detection device according to (4), the switch unitdetermines whether or not an exposure time is equal to or less than athreshold value, sets the output destination of the subtraction unit tothe first high pass filter processing unit in a case where the exposuretime is equal to or less than the threshold value, and sets the outputdestination of the subtraction unit to the second high pass filterprocessing unit in a case where the exposure time exceeds the thresholdvalue.

According to the present aspect, the output destination of thesubtraction unit is switched based on the exposure time. Specifically,it is determined whether the exposure time is equal to or less than thethreshold value, and the output destination of the subtraction unit isswitched depending on the determination result. In a case where theexposure time is equal to or less than the threshold value, the exposureis deemed to be short-time exposure, and the output destination of thesubtraction unit is set to the first high pass filter processing unit.In a case where the exposure time is the short time, the blurring with alow frequency is rarely influenced on the captured image. Accordingly,in this case, the first high pass filter processing unit of which thecutoff frequency is set to be high is used. Accordingly, it is possibleto appropriately detect the blurring by efficiently removing a componentas noise of the blur detection. Meanwhile, in a case where the exposuretime exceeds the threshold value, the exposure is deemed to be thelong-time exposure, and the output destination of the subtraction unitis set to the second high pass filter processing unit. In a case wherethe exposure time is the long time, the blurring with the low frequencyis influenced on the captured image. Accordingly, in this case, thesecond high pass filter processing unit of which the cutoff frequency isset to be low is used. Accordingly, it is possible to appropriatelydetect the blurring with the low frequency.

(6) In the blur detection device according to (5), in a case where theexposure time exceeds the threshold value, the switch unit furtherdetermines whether or not the output of the subtraction unit is equal toor less than a threshold value, sets the output destination of thesubtraction unit to the blur amount calculation unit in a case where theoutput of the subtraction unit is equal to or less than the thresholdvalue, and sets the output destination of the subtraction unit to thesecond high pass filter processing unit in a case where the output ofthe subtraction unit exceeds the threshold value.

According to the present aspect, in a case where it is determined thatthe exposure time exceeds the threshold value, the next determination isfurther performed. That is, it is determined whether or not the outputof the subtraction unit is equal to or less than the threshold value. Asthe determination result, in a case where the output of the subtractionunit is equal to or less than the threshold value, the outputdestination of the subtraction unit is set to the blur amountcalculation unit. Meanwhile, in a case where the output of thesubtraction unit exceeds the threshold value, the output destination ofthe subtraction unit is set to the second high pass filter processingunit. In a case where the output of the subtraction unit is equal to orless than the threshold value, the zero variation is deemed not to bepresent or to be negligibly small. Accordingly, in this case, the outputdestination of the subtraction unit is set to the blur amountcalculation unit. Accordingly, it is possible to appropriately detectthe blurring with a lower frequency. Meanwhile, in a case where theoutput of the subtraction unit exceeds the threshold value, since thereis the zero variation, the output destination of the subtraction unit isset to the second high pass filter processing unit. Accordingly, it ispossible to appropriately eliminate the influence of the zero variation.

(7) In the blur detection device according to (5) or (6), in a casewhere a time required for detecting blurring for a pixel pitch due tothe Earth's rotation is a limit exposure time, the limit exposure timeis set as the threshold value of the exposure time.

According to the present aspect, the limit exposure time is set as thethreshold value of the exposure time. The limit exposure time is thetime required for detecting the blurring for the pixel pitch due to theEarth's rotation. Accordingly, it is possible to appropriately detectthe blurring with the low frequency by eliminating the influence due tothe Earth's rotation.

(8) In the blur detection device according to (4), the switch unitdetermines whether or not a mode in which long-time exposure isperformed is selected as an imaging mode, sets the output destination ofthe subtraction unit to the first high pass filter processing unit in acase where the mode in which the long-time exposure is performed is notselected, and sets the output destination of the subtraction unit to thesecond high pass filter processing unit in a case where the mode inwhich the long-time exposure is performed is selected.

According to the present aspect, the output destination of thesubtraction unit is switched depending on the imaging mode.Specifically, it is determined whether or not the mode in which thelong-time exposure is selected as the imaging mode, and the outputdestination of the subtraction unit is switched depending on thedetermination result thereof. Here, the mode in which the long-timeexposure is performed is a mode in which the imaging is performed with alow shutter speed, and corresponds to, for example, a night view mode.In a case where the mode in which the long-time exposure is performed isnot selected, the exposure is deemed to be the short-time exposure, andthe output destination of the subtraction unit is set to the first highpass filter processing unit. In a case where the exposure time is theshort time, the blurring with a low frequency is rarely influenced onthe captured image. Accordingly, in this case, the first high passfilter processing unit of which the cutoff frequency is set to be highis used. Accordingly, it is possible to appropriately detect theblurring necessary for the correction. Meanwhile, in a case where themode in which the long-time exposure is performed is selected, theexposure is deemed to be the long-time exposure, and the outputdestination of the subtraction unit is set to the second high passfilter processing unit. In a case where the exposure time is the longtime, the blurring with the low frequency is influenced on the capturedimage. Accordingly, in this case, the second high pass filter processingunit of which the cutoff frequency is set to be low is used.Accordingly, it is possible to appropriately detect the blurring withthe low frequency.

(9) In the blur detection device according to (8), in a case where themode in which the long-time exposure is performed is selected, theswitch unit further determines whether or not the output of thesubtraction unit is equal to or less than a threshold value, and setsthe output destination of the subtraction unit to the blur amountcalculation unit in a case where the output of the subtraction unit isequal to or less than the threshold value, and sets the outputdestination of the subtraction unit to the second high pass filterprocessing unit in a case where the output of the subtraction unitexceeds the threshold value.

According to the present aspect, in a case where it is determined thatthe mode in which the long-time exposure is performed is selected, thenext determination is further performed. That is, it is determinedwhether or not the output of the subtraction unit is equal to or lessthan the threshold value. As the determination result, in a case wherethe output of the subtraction unit is equal to or less than thethreshold value, the output destination of the subtraction unit is setto the blur amount calculation unit. Meanwhile, in a case where theoutput of the subtraction unit exceeds the threshold value, the outputdestination of the subtraction unit is set to the second high passfilter processing unit. In a case where the output of the subtractionunit is equal to or less than the threshold value, the zero variation isdeemed not to be present or to be negligibly small. Accordingly, in thiscase, the output destination of the subtraction unit is set to the bluramount calculation unit. Accordingly, it is possible to appropriatelydetect the blurring with a lower frequency. Meanwhile, in a case wherethe output of the subtraction unit exceeds the threshold value, sincethere is the zero variation, the output destination of the subtractionunit is set to the second high pass filter processing unit. Accordingly,it is possible to appropriately eliminate the influence of the zerovariation.

(10) The blur detection device according to (1) further comprises afirst high pass filter processing unit that performs high pass filterprocessing on an output of the subtraction unit, a cutoff frequency ofthe first high pass filter processing unit being set to be a valuehigher than a frequency of blurring caused by Earth's rotation, a secondhigh pass filter processing unit that performs high pass filterprocessing on the output of the subtraction unit, a cutoff frequency ofthe second high pass filter processing unit being set to be a valuelower than the frequency of the blurring caused by the Earth's rotation,and a setting unit that sets an output destination of the subtractionunit to the first high pass filter processing unit or the second highpass filter processing unit.

According to the present aspect, the first high pass filter processingunit and the second high pass filter processing unit are provided as theprocessing unit that performs the high pass filter processing on theoutput of the subtraction unit. The cutoff frequency of the first highpass filter processing unit is set to be the value higher than thefrequency of the blurring caused by the Earth's rotation, and the cutofffrequency of the second high pass filter processing unit is set to bethe value smaller than the frequency of the blurring caused by theEarth's rotation. The output destination of the subtraction unit is setby the setting unit. The setting unit sets the output destination of thesubtraction unit depending on the setting by the user, the set imagingmode, and the exposure time.

(11) The blur detection device according to (10) further comprises anautomatic switch unit that determines whether or not the output of thesubtraction unit is equal to or less than a threshold value in a casewhere the output destination of the subtraction unit is set to thesecond high pass filter processing unit, and switches the outputdestination of the subtraction unit to the blur amount calculation unitin a case where the output of the subtraction unit is equal to or lessthan the threshold value.

According to the present aspect, in a case where the output destinationof the subtraction unit is set to the second high pass filter processingunit, the output destination of the subtraction unit is automaticallyswitched depending on the output of the subtraction unit. The switchingis performed by the automatic switch unit. The automatic switch unitdetermines whether or not the output of the subtraction unit is equal toor less than the threshold value, and switches the output destination ofthe subtraction unit to the blur amount calculation unit based on thedetermination result thereof. Specifically, in a case where the outputof the subtraction unit is equal to or less than the threshold value,the output destination of the subtraction unit is switched to the bluramount calculation unit. In a case where the output of the subtractionunit is equal to or less than the threshold value, the zero variation isdeemed not to be present or to be negligibly small. Accordingly, in thiscase, the output destination of the subtraction unit is set to the bluramount calculation unit. Accordingly, it is possible to appropriatelydetect the blurring with a lower frequency.

(12) An imaging device comprises an imaging optical system comprising ablur correction lens, and a blur correction mechanism that correctsblurring by moving the blur correction lens, an image sensor thatreceives light passing through the imaging optical system to capture animage, the blur detection device according to any one of (1) to (11), ablur correction amount calculation unit that calculates a blurcorrection amount based on a blur amount detected by the blur detectiondevice, and a blur correction controller that controls driving of theblur correction mechanism based on the correction amount calculated bythe blur correction amount calculation unit.

According to the present aspect, the blurring is corrected by the blurcorrection lens provided at the imaging optical system. The blurcorrection amount is calculated based on the blur amount detected by theblur detection device.

(13) An imaging device comprises an imaging optical system, an imagesensor that receives light passing through the imaging optical system tocapture an image, a blur correction mechanism that corrects blurring bymoving the image sensor, the blur detection device according to any oneof (1) to (11), a blur correction amount calculation unit thatcalculates a blur correction amount based on a blur amount detected bythe blur detection device, and a blur correction controller thatcontrols driving of the blur correction mechanism based on thecorrection amount calculated by the blur correction amount calculationunit.

According to the present aspect, the blurring is corrected by moving theimage sensor (so-called image sensor shift method). The blur correctionamount is calculated based on the blur amount detected by the blurdetection device.

(14) A lens device attachable and detachable to and from an imagingdevice main body comprises the blur detection device according to anyone of (1) to (11).

According to the present aspect, the blur detection device is providedat the lens device of the so-called imaging device with theinterchangeable lens.

(15) The lens device according to (14) further comprises a blurcorrection lens, a blur correction mechanism that corrects blurring bymoving the blur correction lens, a blur correction amount calculationunit that calculates a blur correction amount based on a blur amountdetected by the blur detection device, and a blur correction controllerthat controls driving of the blur correction mechanism based on thecorrection amount calculated by the blur correction amount calculationunit.

According to the present aspect, the blur correction lens, the blurcorrection mechanism, the blur correction amount calculation unit, andthe blur correction controller are provided in the lens device.

(16) An imaging device main body to and from which a lens device isattachable and detachable comprises an image sensor that receives lightpassing through the lens device to capture an image, and the blurdetection device according to any one of (1) to (11).

According to the present aspect, the blur detection device is providedat the imaging device main body of the so-called imaging device with theinterchangeable lens.

(17) The imaging device main body according to (16) further comprises ablur correction mechanism that corrects blurring by moving the imagesensor, a blur correction amount calculation unit that calculates a blurcorrection amount based on a blur amount detected by the blur detectiondevice, and a blur correction controller that controls driving of theblur correction mechanism based on the correction amount calculated bythe blur correction amount calculation unit.

According to the present aspect, the blur correction mechanism, the blurcorrection amount calculation unit, and the blur correction controllerare provided at the imaging device main body.

(18) A blur detection method comprises detecting an angular velocity ofan imaging device, a step of detecting a posture of the imaging devicewith respect to an Earth's rotation axis, a step of calculating anEarth's rotation angular velocity component superimposed on a detectionresult of the angular velocity of the imaging device based on thedetected posture of the imaging device, a step of subtracting thecalculated rotation angular velocity component from the detection resultof the angular velocity of the imaging device, and a step of calculatinga blur amount of the imaging device based on the subtracted detectionresult of the angular velocity of the imaging device.

According to the present aspect, the blur amount is calculated byremoving the Earth's rotation angular velocity component from thedetection result of the angular velocity of the imaging device.Accordingly, it is possible to detect the blurring without beinginfluenced by the Earth's rotation. It is possible to appropriatelydetect the blurring with the low frequency.

(19) A blur detection program causing a computer to execute a functionof receiving an output from an angular velocity detection unit thatdetects an angular velocity of an imaging device, a function ofreceiving an output of a posture detection unit that detects a postureof the imaging device with respect to an Earth's rotation axis, afunction of calculating an Earth's rotation angular velocity componentsuperimposed on the output of the angular velocity detection unit basedon the posture of the imaging device detected by the posture detectionunit, a function of subtracting the calculated rotation angular velocitycomponent from the output of the angular velocity detection unit, and afunction of calculating a blur amount of the imaging device based on thesubtracted output of the angular velocity detection unit.

According to the present aspect, the blur amount is calculated byremoving the Earth's rotation angular velocity component from the outputof the angular velocity detection unit. Accordingly, it is possible todetect the blurring without being influenced by the Earth's rotation. Itis possible to appropriately detect the blurring with the low frequency.

Accordingly, it is possible to appropriately detect the blurring of theimaging device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing a schematic configuration of a digitalcamera.

FIG. 2 is a conceptual diagram of movement of a blur correction lens.

FIG. 3 is a diagram showing a schematic configuration of a blurcorrection mechanism.

FIG. 4 is a block diagram of main functions realized by a cameramicrocomputer.

FIG. 5 is a block diagram showing a configuration of a blur detectionunit.

FIG. 6 is a flowchart showing a procedure of blur correction includingblur detection.

FIG. 7 is a block diagram showing a first modification example of theblur detection unit.

FIG. 8 is a flowchart showing a procedure of the blur correctionincluding the blur detection.

FIG. 9 is a block diagram showing a second modification example of theblur detection unit.

FIG. 10 is a flowchart showing a procedure of the blur correctionincluding the blur detection.

FIG. 11 is a block diagram showing a third modification example of theblur detection unit.

FIG. 12 is a flowchart showing a procedure of the blur correctionincluding the blur detection.

FIG. 13 is a block diagram showing a fourth modification example of theblur detection unit.

FIG. 14 is a flowchart showing a procedure of the blur correctionincluding the blur detection.

FIG. 15 is a block diagram showing a fifth modification example of theblur detection unit.

FIG. 16 is a block diagram showing a sixth modification example of theblur detection unit.

FIG. 17 is a block diagram showing a schematic configuration of a secondembodiment of the digital camera.

FIG. 18 is a diagram showing a schematic configuration of the blurcorrection mechanism.

FIG. 19 is a block diagram showing a schematic configuration of a thirdembodiment of the digital camera.

FIG. 20 is a block diagram of main functions realized by a lensmicrocomputer and a camera microcomputer.

FIG. 21 is a block diagram showing a schematic configuration of a fourthembodiment of the digital camera.

FIG. 22 is a block diagram of main functions realized by a lensmicrocomputer and a camera microcomputer.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, preferred embodiments for implementing the presentinvention will be described with reference to the accompanying drawings.

♦♦First Embodiment♦♦

[Configuration of Digital Camera]

FIG. 1 is a block diagram showing a schematic configuration of a digitalcamera. A digital camera 10 is an example of an imaging device. Asillustrated in this drawing, the digital camera 10 comprises an imagingoptical system 100, an image sensor 12, an image sensor drive unit 14,an analog signal processing unit 16, a digital signal processing unit18, a display unit 20, a storage unit 22, an operation unit 24, anangular velocity detection unit 30, a geomagnetism detection unit 40,and a camera microcomputer 50.

«Imaging Optical System»

The imaging optical system 100 comprises a plurality of lenses thatincludes a focus lens 102 and a blur correction lens 104. FIG. 1 showsonly the focus lens 102 and the blur correction lens 104. A stop 106 isincluded on an optical path in the imaging optical system 100.

<Focus Lens>

The focus lens 102 is a lens for focus adjustment, and is provided alongan optical axis L so as to be movable back and forth. A focus lens drivemechanism 108 for moving the focus lens 102 along the optical axis Lback and forth is included in the imaging optical system 100. The focuslens drive mechanism 108 comprises a linear motor as an actuator and adrive circuit thereof. The focus lens drive mechanism 108 drives thelinear motor according to a command from the camera microcomputer 50,and moves the focus lens 102 along the optical axis L.

<Blur Correction Lens>

The blur correction lens 104 is a lens for blur correction, and isprovided so as to be movable in two directions perpendicular within aplane perpendicular to the optical axis L.

FIG. 2 is a conceptual diagram of the movement of the blur correctionlens.

As shown in this drawing, the blur correction lens 104 is provided so asto be movable in the directions of an x-axis and a y-axis. The x-axisand the y-axis pass through a center of the image sensor 12, and are setas axes perpendicular to the optical axis L. The x-axis direction is ahorizontal direction (left-right direction) of the digital camera 10,and the y-axis direction is a vertical direction (up-down direction) ofthe digital camera 10.

In a case where blur is corrected, the blur correction lens 104 is movedin a direction in which the blur is canceled. A blur correctionmechanism 110 that moves the blur correction lens 104 in the x-axis andy-axis directions to correct the blur is included in the imaging opticalsystem 100.

FIG. 3 is a diagram showing a schematic configuration of the blurcorrection mechanism.

The blur correction mechanism 110 comprises a blur correction lensx-axis drive mechanism 110 x and a blur correction lens y-axis drivemechanism 110 y.

The blur correction lens x-axis drive mechanism 110 x is a mechanism formoving the blur correction lens 104 in the x-axis direction. The blurcorrection lens x-axis drive mechanism 110 x comprises a linear motor(for example, a voice coil motor) as an actuator and a drive circuitthereof. The blur correction lens x-axis drive mechanism 110 x drivesthe linear motor according to a command from the camera microcomputer50, and moves the blur correction lens 104 in the x-axis direction.

The blur correction lens y-axis drive mechanism 110 y is a mechanism formoving the blur correction lens 104 in the y-axis direction. The blurcorrection lens y-axis drive mechanism 110 y comprises a linear motor(for example, voice coil motor) as an actuator and a drive circuitthereof. The blur correction lens y-axis drive mechanism 110 y drives alinear motor according to a command from the camera microcomputer 50,and moves the blur correction lens 104 in the y-axis direction.

<Stop>

The stop 106 adjusts the amount of light (light amount) passing throughthe imaging optical system 100 by adjusting an opening amount thereof.For example, the stop 106 is an iris diaphragm, and adjusts the openingamount by scaling a stop leaf blade. A stop drive mechanism 112 fordriving the stop 106 is included in the imaging optical system 100. Thestop drive mechanism 112 comprises a motor as an actuator and a drivecircuit thereof. The stop drive mechanism 112 drives the motor accordingto a command from the camera microcomputer 50, and adjusts the openingamount by scaling the leaf blades of the stop 106.

«Image Sensor»The image sensor 12 receives the light passing through theimaging optical system 100 to capture an image. The image sensor 12 is aknown image sensor such as a complementary metal-oxide semiconductor(CMOS) type, a charge coupled device (CCD) type, and is an area imagesensor in which a plurality of pixels is two-dimensionally arranged.

«Image Sensor Drive Unit»

The image sensor drive unit 14 drives the image sensor 12 according to acommand from the camera microcomputer 50. The image sensor 12 is drivenby the image sensor drive unit 14, and thus, electric chargesaccumulated in the pixels are read out as image signals.

«Analog Signal Processing Unit»

The analog signal processing unit 16 receives an analog image signal foreach pixel output from the image sensor 12, and performs predeterminedsignal processing (for example, sampling two correlation pile andamplification processing). The analog signal processing unit 16 includesan analog-to-digital converter (AD converter (ADC)), converts the analogimage signal after the predetermined signal processing into a digitalimage signal, and outputs the converted image signal.

«Digital Signal Processing Unit»

The digital signal processing unit 18 receives the digital image signaloutput from the analog signal processing unit 16, and generates imagedata by performing predetermined signal processing (for example,gradation transformation processing, white balance correctionprocessing, gamma-correction processing, demosaicing processing, and YCconversion processing). The generated image data is output to the cameramicrocomputer 50.

The digital signal processing unit 18 detects information of brightnessof a subject necessary for exposure control based on the received imagesignal. The detected information of the brightness of the subject isoutput to the camera microcomputer 50.

The digital signal processing unit 18 detects information of contrast ofthe subject necessary for autofocus control based on the received imagesignal. The detected information of the contrast is output to the cameramicrocomputer 50.

«Display Unit»

The display unit 20 displays various information including the image.The display unit 20 comprises a display device such as a liquid crystaldisplay or an organic electroluminescent (EL) and a drive circuitthereof. A live view is displayed on the display unit 20 in addition toa captured image. The live view is a function of displaying an imagecaptured by the image sensor in real time. It is possible to image theimage while confirming the image on the display unit 20 by displayingthe live view. The display unit 20 is used as a display screen for auser interface at the time of performing various settings. The displayon the display unit 20 is controlled by the camera microcomputer 50.

«Storage Unit»

The storage unit 22 stores various data including the image data. Thestorage unit 22 comprises a built-in memory, and a control circuit thatwrites data in the built-in memory. For example, the built-in memory isa nonvolatile memory such as electrically erasable programmable readonly memory (EEPROM). The writing of the data in the storage unit 22 iscontrolled by the camera microcomputer 50.

The storage unit 22 can be an external memory such as a so-called memorycard. In this case, a card slot for loading a memory card is included inthe digital camera 10.

«Operation Unit»

The operation unit 24 includes general operation means of the digitalcamera such as a release button, a power switch, an imaging mode dial, ashutter speed dial, an exposure correction dial, a command dial, a menubutton, a cross key, an OK button, a cancel button, a delete button, anda blur correction switch, and outputs a signal corresponding to theoperation to the camera microcomputer 50.

Here, the blur correction switch is a switch for turning on and off ablur correction function. In a case where the blur correction switch isturned on, the blur correction function is turned on, and in a casewhere the blur correction switch is turned off, the blur correctionfunction is turned off.

The imaging mode dial is a dial for setting an imaging mode. The imagingmode is set to a portrait mode, a scenery mode, and a night view mode bythe imaging mode dial. The portrait mode is an imaging mode in whichimaging control appropriate for portrait imaging is performed. Thescenery mode is an imaging mode in which imaging control appropriate forscenery imaging is performed. The night view mode is an imaging mode inwhich imaging control appropriate for night view imaging is performed.In the night view mode, imaging in which a shutter speed is decreased isperformed. In addition, imaging modes such as a shutter speed prioritymode, a stop priority mode, and a manual mode are set by the imagingmode dial.

«Angular Velocity Detection Unit»

The angular velocity detection unit 30 detects angular velocities in ayaw direction Yaw and a pitch direction Pit of the digital camera 10. Asshown in FIG. 3, the angular velocity detection unit 30 comprises a yawdirection angular velocity detection unit 30A and a pitch directionangular velocity detection unit 30B.

The yaw direction angular velocity detection unit 30A detects theangular velocity in the yaw direction Yaw of the digital camera 10. Theyaw direction Yaw is a rotation direction around the y-axis, and is arotation direction of the horizontal direction of the digital camera 10(see FIG. 2). The yaw direction angular velocity detection unit 30Acomprises a yaw direction angular velocity sensor 32A that detects theangular velocity in the yaw direction Yaw of the digital camera 10 andan AD converter (ADC) 34A that converts an output of the yaw directionangular velocity detection unit 30A into a digital signal. The output ofthe yaw direction angular velocity detection unit 30A is converted intothe digital signal in the ADC 34A, and is output to the cameramicrocomputer 50.

The pitch direction angular velocity detection unit 30B detects theangular velocity in the pitch direction Pit of the digital camera 10.The pitch direction Pit is a rotation direction around the x-axis, andis a rotation direction of the vertical direction of the digital camera10 (see FIG. 2). The pitch direction angular velocity detection unit 30Bcomprises a pitch direction angular velocity sensor 32B that detects theangular velocity in the pitch direction Pit of the digital camera 10 andan AD converter (ADC) 34B that converts an output of the pitch directionangular velocity detection unit 30B into a digital signal. The output ofthe pitch direction angular velocity detection unit 30B is convertedinto the digital signal in the ADC 34B, and is output to the cameramicrocomputer 50.

«Geomagnetism Detection Unit»

The geomagnetism detection unit 40 detects geomagnetism. As shown inFIG. 3, the geomagnetism detection unit 40 comprises a geomagnetismsensor 42 and an AD converter (ADC) 44 that converts an output of thegeomagnetism sensor 42 into a digital signal. The output of thegeomagnetism sensor 42 is converted into the digital signal in the ADC44, and is output to the camera microcomputer 50. The cameramicrocomputer 50 detects a posture of the digital camera 10 with respectto an Earth's rotation axis based on a detection result of thegeomagnetism detection unit 40. The detection of the posture of thedigital camera will be described below.

«Camera Microcomputer»

The camera microcomputer 50 functions as a controller that generallycontrols the entire operation of the digital camera 10. The cameramicrocomputer 50 functions as a calculation processing unit thatcalculates a physical amount necessary for control of the digital camera10. The camera microcomputer 50 is a computer (microcomputer) thatcomprises a central processing unit (CPU), a random access memory (RAM),and a read only memory (ROM). The camera microcomputer 50 realizesvarious functions by executing predetermined programs such as a focuscontrol program, an exposure control program, and a blur detectionprogram. The program executed by the camera microcomputer 50 and variousdata necessary for the control are stored in the ROM (non-transitorycomputer-readable recording medium).

FIG. 4 is a block diagram of main functions realized by the cameramicrocomputer.

As shown in this drawing, the camera microcomputer 50 functions as afocus controller 52, an exposure setting unit 54, an image sensor drivecontroller 56, a stop controller 58, a blur correction controller 60, adisplay controller 62, a storage controller 64, a blur detection unit70, and a blur correction amount calculation unit 90.

<Focus Controller>

The focus controller 52 performs so-called contrast type autofocuscontrol. That is, the focus lens 102 is moved to an infinity end fromthe closest end to detect a position at which contrast is maximized, andmoves the focus lens 102 to the detected position.

<Exposure Setting Unit>

The exposure setting unit 54 sets a shutter speed (exposure time) and anF number with which optimum exposure is performed based on the detectionresult of the brightness of the subject.

<Image Sensor Drive Controller>

The image sensor drive controller 56 controls the driving of the imagesensor 12 through the image sensor drive unit 14 such that the exposureis performed with the shutter speed set by the exposure setting unit 54.

<Stop Controller>

The stop controller 58 controls the stop 106 through the stop drivemechanism 112 such that the F number set in the exposure setting unit 54is acquired.

<Blur Correction Controller>

The blur correction controller 60 controls the driving of the blurcorrection mechanism 110 to correct blurring based on information of ablur correction amount of calculated by a blur correction amountcalculation unit 90.

<Display Controller>

The display controller 62 controls the display of the display unit 20.For example, in a case where image data acquired through the imaging isdisplayed on the display unit 20, the image data is converted to a dataformat capable of being displayed on the display unit 20, and is outputto the display unit 20.

<Storage Controller>

The storage controller 64 controls the writing of the data in thestorage unit 22. The image data acquired through the imaging is storedin the storage unit 22 through the storage controller 64. In a casewhere the image data stored in the storage unit 22 is played, the imagedata is read out from the storage unit 22 through the storage controller64.

<Blur Detection Unit>

The blur detection unit 70 calculates the blur amount of the digitalcamera 10 based on the detection results of the angular velocitydetection unit 30 and the posture detection unit.

FIG. 5 is a block diagram showing a configuration of the blur detectionunit.

The blur detection unit 70 comprises a posture calculation unit 72, arotation angular velocity component calculation unit 74, a yaw directionsubtraction unit 76A, a pitch direction subtraction unit 76B, a yawdirection blur amount calculation unit 78A, and a pitch direction bluramount calculation unit 78B.

[Posture Calculation Unit]

The posture calculation unit 72 calculates the posture of the digitalcamera 10 with respect to the Earth's rotation axis based on the outputof the geomagnetism detection unit 40. The posture of the digital camera10 is calculated as a posture of the image sensor 12 with respect to theEarth's rotation axis, more specifically, as postures on the x-axis andthe y-axis of the image sensor 12 with respect to the Earth's rotationaxis. The calculation result is output to the rotation angular velocitycomponent calculation unit 74.

In the digital camera 10 according to the present embodiment, theposture calculation unit 72 and the geomagnetism detection unit 40constitute a posture detection unit.

[Rotation Angular Velocity Component Calculation Unit]

The rotation angular velocity component calculation unit 74 calculatesan Earth's rotation angular velocity component superimposed on theoutput of the angular velocity detection unit 30 based on the posture ofthe digital camera 10 with respect to the Earth's rotation axiscalculated by the posture calculation unit 72.

As stated above, the angular velocity detection unit 30 detects theangular velocities in the yaw direction Yaw and the pitch direction Pitby the yaw direction angular velocity detection unit 30A and the pitchdirection angular velocity detection unit 30B. Accordingly, the rotationangular velocity component calculation unit 74 calculates the Earth'srotation angular velocity component superimposed on the output of theyaw direction angular velocity detection unit 30A and the Earth'srotation angular velocity component superimposed on the output of thepitch direction angular velocity detection unit 30B.

An Earth's rotation angular velocity ω is known, andω≈7.292×10⁻⁵[rad/second]. The rotation angular velocity componentcalculation unit 74 calculates the Earth' rotation angular velocitycomponent superimposed on the output of the yaw direction angularvelocity detection unit 30A and the Earth's rotation angular velocitycomponent superimposed on the output of the pitch direction angularvelocity detection unit 30B based on information of the known Earth'srotation angular velocity ω.

The calculation results are output to the yaw direction subtraction unit76A and the pitch direction subtraction unit 76B. That is, thecalculation result of the Earth's rotation angular velocity componentsuperimposed on the output of the yaw direction angular velocitydetection unit 30A is output to the yaw direction subtraction unit 76A.The calculation result of the Earth's rotation angular velocitycomponent superimposed on the output of the pitch direction angularvelocity detection unit 30B is output to the pitch direction subtractionunit 76B.

[Yaw Direction Subtraction Unit]

The yaw direction subtraction unit 76A performs subtraction processingon the output of the yaw direction angular velocity detection unit 30Abased on the calculation result of the rotation angular velocitycomponent calculation unit 74. Specifically, the rotation angularvelocity component in the yaw direction calculated by the rotationangular velocity component calculation unit 74 is subtracted from theoutput of the yaw direction angular velocity detection unit 30A.Accordingly, it is possible to remove the Earth's rotation angularvelocity component from the angular velocity in the yaw direction Yawdetected by the yaw direction angular velocity detection unit 30A. Theprocessing result of the yaw direction subtraction unit 76A is output tothe yaw direction blur amount calculation unit 78A.

[Pitch Direction Subtraction Unit]

The pitch direction subtraction unit 76B performs subtraction processingon the output of the pitch direction angular velocity detection unit 30Bbased on the calculation result of the rotation angular velocitycomponent calculation unit 74. Specifically, the rotation angularvelocity component in the pitch direction calculated by the rotationangular velocity component calculation unit 74 is subtracted from theoutput of the pitch direction angular velocity detection unit 30B.Accordingly, it is possible to remove the Earth's rotation angularvelocity component from the angular velocity in the pitch direction Pitdetected by the pitch direction angular velocity detection unit 30B. Theprocessing result of the pitch direction subtraction unit 76B is outputto the pitch direction blur amount calculation unit 78B.

[Yaw Direction Blur Amount Calculation Unit]

The yaw direction blur amount calculation unit 78A calculates a bluramount in the yaw direction Yaw of the digital camera 10 based on theoutput of the yaw direction subtraction unit 76A. Specifically, the bluramount in the yaw direction Yaw is calculated by integrating an angularvelocity signal in the yaw direction Yaw after the subtractionprocessing output from the yaw direction subtraction unit 76A. Theprocessing result of the yaw direction blur amount calculation unit 78Ais output to the blur correction amount calculation unit 90.

[Pitch Direction Blur Amount Calculation Unit]

The pitch direction blur amount calculation unit 78B calculates a bluramount in the pitch direction Pit of the digital camera 10 based on theoutput of the pitch direction subtraction unit 76B. Specifically, theblur amount in the pitch direction Pit is calculated by integrating anangular velocity signal in the pitch direction Pit after the subtractionprocessing output from the pitch direction subtraction unit 76B. Theprocessing result of the pitch direction blur amount calculation unit78B is output to the blur correction amount calculation unit 90.

As stated above, the blur detection unit 70 calculates the blur amountof the digital camera 10 based on the detection results of the angularvelocity detection unit 30 and the posture detection unit. Accordingly,in the digital camera 10 according to the present embodiment, the blurdetection unit 70, the angular velocity detection unit 30, and theposture detection unit constitute a blur detection device.

<Blur Correction Amount Calculation Unit>

The blur correction amount calculation unit 90 calculates the blurcorrection amount based on the blur amount in the yaw direction Yaw andthe blur amount in the pitch direction Pit detected by the blurdetection unit 70. The blur correction amount is calculated as amovement amount of the blur correction lens 104 necessary for cancelingthe detected blurring. Since the blur correction lens 104 is provided soas to be movable in the x-axis and y-axis directions by the blurcorrection mechanism 110, the blur correction amount is calculated asthe movement amounts in the x-axis direction and the y-axis direction ofthe blur correction lens 104 necessary for canceling the blurring.

The calculation result of the blur correction amount calculation unit 90is output to the blur correction controller 60 as shown in FIG. 4. Theblur correction controller 60 controls the driving of the blurcorrection mechanism 110 to correct the blurring based on the blurcorrection amount calculated by the blur correction amount calculationunit 90.

[Action of Digital Camera]

Hereinafter, a detection method (blur detection method) of the blurringand correct method (blur correction method) of the blurring performed bythe digital camera 10 will be described.

The functions of the blur detection and the blur correction are enabledin a case where the blur correction switch of the operation unit 24 isturned on.

FIG. 6 is a flowchart illustrating a procedure of the blur correctionincluding the blur detection.

Initially, the angular velocity of the digital camera 10 is detected(step S1). The angular velocity is detected by the angular velocitydetection unit 30, and the angular velocities in the yaw direction Yawand the pitch direction Pit. Here, the angular velocity detected by theangular velocity detection unit 30 is an angular velocity including anangular velocity component due to the Earth's rotation. The detectedangular velocities in the yaw direction Yaw and the pitch direction Pitare given to the yaw direction subtraction unit 76A and the pitchdirection subtraction unit 76B.

Subsequently, the posture of the digital camera 10 with respect to theEarth's rotation axis is detected (step S2). The posture of the digitalcamera 10 with respect to the Earth's rotation axis is calculated by theposture calculation unit 72 based on the output of the geomagnetismdetection unit 40. The information of the detected posture of thedigital camera 10 is given to the rotation angular velocity componentcalculation unit 74.

Subsequently, the Earth's rotation angular velocity componentsuperimposed on the detection result of the angular velocity iscalculated based on the detection result of the posture of the digitalcamera 10 (step S3). The Earth's rotation angular velocity component iscalculated by the rotation angular velocity component calculation unit74, and the rotation angular velocity components in the yaw directionYaw and the pitch direction Pit are calculated. The calculated rotationangular velocity components in the yaw direction Yaw and the pitchdirection Pit are given to the yaw direction subtraction unit 76A andthe pitch direction subtraction unit 76B.

Subsequently, the Earth's rotation angular velocity component issubtracted from the detection result of the angular velocity (step S4).That is, the Earth's rotation angular velocity component in the yawdirection Yaw is subtracted from the output of the yaw direction angularvelocity detection unit 30A in the yaw direction subtraction unit 76A.The Earth's rotation angular velocity component in the pitch directionPit is subtracted from the output of the pitch direction angularvelocity detection unit 30B in the pitch direction subtraction unit 76B.Accordingly, an angular velocity of true shake, that is, an angularvelocity of a true shake in which the Earth's rotation angular velocitycomponent is removed is acquired in each direction of the yaw directionYaw and the pitch direction Pit. The subtracted angular velocities inthe yaw direction Yaw and the pitch direction Pit are given to the yawdirection blur amount calculation unit 78A and the pitch direction bluramount calculation unit 78B.

Subsequently, the blur amounts in the yaw direction Yaw and the pitchdirection Pit are calculated from the angular velocities in the yawdirection Yaw and the pitch direction Pit after the subtractionprocessing (step S5). The blur amounts in the yaw direction Yaw and thepitch direction Pit are calculated in the yaw direction blur amountcalculation unit 78A and the pitch direction blur amount calculationunit 78B. The blur amount in the yaw direction Yaw is calculated byintegrating the output of the yaw direction subtraction unit 76A. Theblur amount in the pitch direction Pit is calculated by integrating theoutput of the pitch direction subtraction unit 76B. The calculated bluramounts in the yaw direction Yaw and the pitch direction Pit are givento the blur correction amount calculation unit 90.

Subsequently, the blur correction amount is calculated based on thecalculated blur amounts in the yaw direction Yaw and the pitch directionPit (step S6). The blur correction amount is calculated by the blurcorrection amount calculation unit 90. The blur correction amount iscalculated as the movement amount of the blur correction lens 104necessary for canceling the blurring, and is calculated in eachdirection of the x-axis direction and the y-axis direction.

Subsequently, the blur correction mechanism 110 is driven based on thecalculated blur correction amount (step S7). Accordingly, the occurredblurring is canceled, and the blurring is corrected.

As stated above, in accordance with the digital camera 10 according tothe present embodiment, since the blurring is detected by removing theEarth's rotation angular velocity component from the detection result ofthe angular velocity, it is possible to appropriately detect theblurring of the angular velocity slower than the Earth's rotationangular velocity. Accordingly, it is possible to appropriately correctthe blurring of the angular velocity slower than the Earth's rotationangular velocity. Accordingly, it is possible to lengthen a limitexposure time a capable of securing the function of the blur correction.Therefore, it is possible to appropriately correct the blurring byappropriately detecting the blurring during long time exposure such asnight view imaging.

[Modification Example of Blur Detection Unit]

«First modification example»

<Configuration>

FIG. 7 is a block diagram showing a first modification example of theblur detection unit.

As shown in this drawing, a blur detection unit 70 v 1 of the presentexample is different from the blur detection unit 70 according to theaforementioned embodiment in that a yaw direction HPF processing unit80A that performs high pass filter (HPF) processing of the output of theyaw direction subtraction unit 76A and a pitch direction HPF processingunit 80B that performs HPF processing of the output of the pitchdirection subtraction unit 76B are further provided.

The yaw direction HPF processing unit (yaw direction high pass filterprocessing unit) 80A performs the HPF processing of the output of theyaw direction subtraction unit 76A, and outputs the processed output tothe yaw direction blur amount calculation unit 78A.

The pitch direction HPF processing unit (pitch direction high passfilter processing unit) 80B performs the HPF processing of the output ofthe pitch direction subtraction unit 76B, and outputs the processedoutput to the pitch direction blur amount calculation unit 78B.

Cutoff frequencies of the yaw direction HPF processing unit 80A and thepitch direction HPF processing unit 80B are set such that the influenceof a zero variation of the angular velocity detection unit 30 iseliminated. However, the cutoff frequency is set to be a value lowerthan a frequency of the blurring caused by the Earth's rotation.

<Action>

FIG. 8 is a flowchart showing a procedure of the blur correctionincluding the blur detection.

Initially, the angular velocity of the digital camera 10 is detected inthe angular velocity detection unit 30 (step S11).

Subsequently, the posture of the digital camera 10 with respect to theEarth's rotation axis is detected based on the output of thegeomagnetism detection unit 40 (step S12).

Subsequently, the Earth's rotation angular velocity superimposed on thedetection result of the angular velocity is calculated based on thedetection result of the posture of the digital camera 10 with respect tothe Earth's rotation axis (step S13).

Subsequently, the Earth's rotation angular velocity components aresubtracted from the detection results of the angular velocities in theyaw direction Yaw and the pitch direction Pit in the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B (stepS14).

Subsequently, the HPF processing is performed on the subtracteddetection results of the angular velocities in the yaw direction Yaw andthe pitch direction Pit (step S15). That is, the output of the yawdirection subtraction unit 76A is given to the yaw direction HPFprocessing unit 80A, and the HPF processing is performed on the givenoutput. The output of the pitch direction subtraction unit 76B is givento the pitch direction HPF processing unit 80B, and the HPF processingis performed on the given output. The cutoff frequencies of the yawdirection HPF processing unit 80A and the pitch direction HPF processingunit 80B are set to be values lower than the frequency of the blurringcaused by the Earth's rotation. Accordingly, the frequency componentlower than the frequency of the blurring caused by the Earth's rotationis removed by performing the HPF processing in the yaw direction HPFprocessing unit 80A and the pitch direction HPF processing unit 80B.

Subsequently, the blur amounts are calculated from the detection resultsof the angular velocities after the HPF processing (step S16). That is,the output of the yaw direction HPF processing unit 80A is given to theyaw direction blur amount calculation unit 78A, and the blur amount inthe yaw direction Yaw is calculated from the angular velocity in the yawdirection Yaw after the HPF processing. The output of the pitchdirection HPF processing unit 80B is given to the pitch direction bluramount calculation unit 78B, and the blur amount in the pitch directionPit is calculated from the angular velocity in the pitch direction Pitafter the HPF processing.

Subsequently, the blur correction amount is calculated by the blurcorrection amount calculation unit 90 based on the calculated bluramounts in the yaw direction Yaw and the pitch direction Pit (step S17).

Subsequently, the blur correction mechanism 110 is driven based on thecalculated blur correction amount (step S18). Accordingly, the occurredblurring is canceled, and the blurring is corrected.

As stated above, in accordance with the blur detection unit 70 v 1 ofthe present example, the yaw direction HPF processing unit 80A and thepitch direction HPF processing unit 80B are provided, and the HPFprocessing is performed on the output of the yaw direction subtractionunit 76A and the output of the pitch direction subtraction unit 76B. Thecutoff frequencies of the yaw direction HPF processing unit 80A and thepitch direction HPF processing unit 80B are set to be values lower thanthe frequency of the blurring caused by the Earth's rotation.Accordingly, it is possible to eliminate the influence of a zerovariation such as an offset error of the angular velocity detection unitor a trigger of an amplifier that amplifies the output of the angularvelocity detection unit.

As stated above, since the yaw direction HPF processing unit 80A and thepitch direction HPF processing unit 80B are provided for the purpose ofeliminating the influence of the zero variation of the output of theangular velocity detection unit 30, the cutoff frequency is set to be avalue appropriate for the purpose, and is set to be as low as possible.

«Second Modification Example»

<Configuration>

FIG. 9 is a block diagram showing a second modification example of theblur detection unit.

As shown in this drawing, a blur detection unit 70 v 2 of the presentexample is different from the blur detection unit 70 v 1 of the firstmodification example in that a yaw-direction-subtraction-unit outputdestination switch unit 82A that switches an output destination of theyaw direction subtraction unit 76A and apitch-direction-subtraction-unit output destination switch unit 82B thatswitches an output destination of the pitch direction subtraction unit76B are further provided.

The yaw-direction-subtraction-unit output destination switch unit 82Aswitches the output destination of the yaw direction subtraction unit76A based on a so-called zero output. Specifically, it is determinedwhether or not the output of the yaw direction subtraction unit 76A isequal to or less than a threshold value, and the output destination ofthe yaw direction subtraction unit 76A is switched to the yaw directionHPF processing unit 80A or the yaw direction blur amount calculationunit 78A based on the determination result thereof. In a case where theoutput of the yaw direction subtraction unit 76A is equal to or lessthan the threshold value, the zero variation is deemed not to be presentor to be negligibly small, and the output destination of the yawdirection subtraction unit 76A is set to the yaw direction blur amountcalculation unit 78A. Meanwhile, in a case where the output of the yawdirection subtraction unit 76A exceeds the threshold value, the zerovariation is deemed to be large, and the output destination of the yawdirection subtraction unit 76A is set to the yaw direction HPFprocessing unit 80A.

Similar to the pitch-direction-subtraction-unit output destinationswitch unit 82B, it is determined whether or not the output of the pitchdirection subtraction unit 76B is equal to or less than the thresholdvalue, and the output destination of the pitch direction subtractionunit 76B is switched to the pitch direction HPF processing unit 80B orthe pitch direction blur amount calculation unit 78B based on thedetermination result thereof. In a case where the output of the pitchdirection subtraction unit 76B is equal to or less than the thresholdvalue, the zero variation is deemed not to be present or to benegligibly small, and the output destination of the pitch directionsubtraction unit 76B is set to the pitch direction blur amountcalculation unit 78B. Meanwhile, in a case where the output of the pitchdirection subtraction unit 76B exceeds the threshold value, the zerovariation is deemed to be large, and the output destination of the pitchdirection subtraction unit 76B is set to the pitch direction HPFprocessing unit 80B.

Information of the threshold value necessary for the determination isstored in the ROM.

<Action>

FIG. 10 is a flowchart showing a procedure of the blur correctionincluding the blur detection.

Initially, the angular velocity of the digital camera 10 is detected inthe angular velocity detection unit 30 (step S21).

Subsequently, the posture of the digital camera 10 with respect to theEarth's rotation axis is detected based on the output of thegeomagnetism detection unit 40 (step S22).

Subsequently, the Earth's rotation angular velocity superimposed on thedetection result of the angular velocity detection unit 30 is calculatedbased on the detection result of the posture of the digital camera 10with respect to the Earth's rotation axis (step S23).

Subsequently, the Earth's rotation angular velocity components aresubtracted from the detection results of the angular velocities in theyaw direction subtraction unit 76A and the pitch direction subtractionunit 76B (step S24).

Subsequently, it is determined whether or not the subtracted detectionresults of the angular velocities are equal to or less than thethreshold value in the yaw-direction-subtraction-unit output destinationswitch unit 82A and the pitch-direction-subtraction-unit outputdestination switch unit 82B (step S25). That is, it is determinedwhether or not the outputs of the yaw direction subtraction unit 76A andthe pitch direction subtraction unit 76B are equal to or less than thethreshold value.

In a case where the subtracted detection result of the angular velocityexceeds the threshold value, that is, the zero variation is large, theHPF processing is performed on the subtracted detection result of theangular velocity (step S26). That is, the output destination of the yawdirection subtraction unit 76A is set to the yaw direction HPFprocessing unit 80A by the yaw-direction-subtraction-unit outputdestination switch unit 82A. Accordingly, the subtracted detectionresult of the angular velocity in the yaw direction is given to the yawdirection HPF processing unit 80A, and the HPF processing is performedon the given detection result. The output destination of the pitchdirection subtraction unit 76B is set to the pitch direction HPFprocessing unit 80B by the pitch-direction-subtraction-unit outputdestination switch unit 82B. Accordingly, the subtracted detectionresult of the angular velocity in the pitch direction is given to thepitch direction HPF processing unit 80B, and the HPF processing isperformed on the given detection result.

Thereafter, the blur amount is calculated from the detection result ofthe angular velocity after the HPF processing (step S27). That is, theoutput of the yaw direction HPF processing unit 80A is given to the yawdirection blur amount calculation unit 78A, and the blur amount in theyaw direction Yaw is calculated from the angular velocity in the yawdirection Yaw after the HPF processing. The output of the pitchdirection HPF processing unit 80B is given to the pitch direction bluramount calculation unit 78B, and the blur amount in the pitch directionPit is calculated from the angular velocity in the pitch direction Pitafter the HPF processing.

Meanwhile, in a case where the subtracted detection result of theangular velocity is equal to or less than the threshold value, that is,the zero variation is sufficiently small, the blur amount is calculatedfrom the subtracted detection result of the angular velocity (step S27).That is, in his case, the outputs of the yaw direction subtraction unit76A and the pitch direction subtraction unit 76B are directly given tothe yaw direction blur amount calculation unit 78A and the pitchdirection blur amount calculation unit 78B, and the blur amounts in theyaw direction Yaw and the pitch direction Pit are directly calculated(step S27).

After the calculation of the blur amount, the blur correction amount iscalculated based on the calculated blur amount in the blur correctionamount calculation unit 90 (step S28). The blur correction mechanism 110is driven based on the calculated blur correction amount (step S29).Accordingly, the occurred blurring is canceled, and the blurring iscorrected.

As stated above, in accordance with the blur detection unit 70 v 2 ofthe present example, the output destinations of the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B areswitched depending on whether or not there is the zero variation of theangular velocity sensor. Accordingly, it is possible to moreappropriately the blurring. That is, in a case where the zero variationis sufficiently small, the outputs of the yaw direction subtraction unit76A and the pitch direction subtraction unit 76B are directly given tothe yaw direction blur amount calculation unit 78A and the pitchdirection blur amount calculation unit 78B. Accordingly, it is possibleto appropriately detect the blurring with a lower frequency. In a casewhere the zero variation is sufficiently small, the outputs of the yawdirection subtraction unit 76A and the pitch direction subtraction unit76B are given to the yaw direction HPF processing unit 80A and the pitchdirection HPF processing unit 80B, and the angular velocities after theHPF processing are given to the yaw direction blur amount calculationunit 78A and the pitch direction blur amount calculation unit 78B.Accordingly, it is possible to detect the blurring by appropriatelyremoving the influence of the zero variation.

«Third Modification Example»

<Configuration>

FIG. 11 is a block diagram showing a third modification example of theblur detection unit.

The blur detection unit 70 v 3 of the present example is different fromthe blur detection unit 70 v 2 of the second modification example inthat two HPF processing units are provided. Specifically, a yawdirection first HPF processing unit 80A1 and a yaw direction second HPFprocessing unit 80A2 are provided as the output destination of the yawdirection subtraction unit 76A, and a pitch direction first HPFprocessing unit 80B1 and a pitch direction second HPF processing unit80B2 are provided as the output destination of the pitch directionsubtraction unit 76B.

A cutoff frequency of the yaw direction first HPF processing unit (yawdirection first high pass filter processing unit) 80A1 is set to be avalue higher than the frequency of the blurring caused by the Earth'srotation. The HPF processing is performed on the output of the yawdirection subtraction unit 76A, and the processed output is output tothe yaw direction blur amount calculation unit 78A.

A cutoff frequency of the yaw direction second HPF processing unit (yawdirection second high pass filter processing unit) 80A2 is set to be avalue lower than the frequency of the blurring caused by the Earth'srotation. The HPF processing is performed on the output of the yawdirection subtraction unit 76A, and the processed output is output tothe yaw direction blur amount calculation unit 78A.

A cutoff frequency of the pitch direction first HPF processing unit(pitch direction first high pass filter processing unit) 80B1 is set tobe a value higher than the frequency of the blurring caused by theEarth's rotation. The HPF processing is performed on the output of thepitch direction subtraction unit 76B, and the processed output is outputto the pitch direction blur amount calculation unit 78B.

A cutoff frequency of the pitch direction second HPF processing unit(pitch direction second high pass filter processing unit) 80B2 is set tobe a value lower than the frequency of the blurring caused by theEarth's rotation. The HPF processing is performed on the output of thepitch direction subtraction unit 76B, and the processed output is outputto the pitch direction blur amount calculation unit 78B.

The output destinations of the yaw direction subtraction unit 76A andthe pitch direction subtraction unit 76B are switched by theyaw-direction-subtraction-unit output destination switch unit 82A andthe pitch-direction-subtraction-unit output destination switch unit 82B.

The yaw-direction-subtraction-unit output destination switch unit 82Aswitches the output destination of the yaw direction subtraction unit76A based on the exposure time (shutter speed). Specifically, it isdetermined whether or not the exposure time is equal to or less than thethreshold value, and the output destination of the yaw directionsubtraction unit 76A is switched to the yaw direction first HPFprocessing unit 80A1 or the yaw direction second HPF processing unit80A2 based on the determination result. In a case where the exposuretime is equal to or less than the threshold value, the exposure isdeemed to be a short-time exposure, and the output destination of theyaw direction subtraction unit 76A is set to the yaw direction first HPFprocessing unit 80A1. In a case where the exposure time is the shorttime, the blurring with a low frequency is rarely influenced on thecaptured image. Accordingly, in this case, the yaw direction first HPFprocessing unit 80A1 of which the cutoff frequency is set to be high isused. Accordingly, it is possible to appropriately detect the blurringby efficiently removing a component as noise at the time of detectingthe blurring. Meanwhile, in a case where the exposure time exceeds thethreshold value, the exposure is deemed to be a long-time exposure, andthe output destination of the yaw direction subtraction unit 76A is setto the yaw direction second HPF processing unit 80A2. In a case wherethe exposure time is the long time, the blurring with the low frequencyis influenced on the captured image. Accordingly, in this case, the yawdirection second HPF processing unit 80A2 of which the cutoff frequencyis set to be low is used. Accordingly, it is possible to appropriatelydetect the blurring with the low frequency.

Similar to the pitch-direction-subtraction-unit output destinationswitch unit 82B, the output destination of the pitch directionsubtraction unit 76B is switched based on the exposure time. That is, itis determined whether or not the exposure time is equal to or less thanthe threshold value, and the output destination of the pitch directionsubtraction unit 76B is switched to the pitch direction first HPFprocessing unit 80B1 or the pitch direction second HPF processing unit80B2 based on the determination result. In a case where the exposuretime is equal to or less than the threshold value, the exposure isdeemed to be the short-time exposure, and the output destination of thepitch direction subtraction unit 76B is set to the pitch direction firstHPF processing unit 80B1. Meanwhile, in a case where the exposure timeexceeds the threshold value, the exposure is deemed to be the long-timeexposure, and the output destination of the pitch direction subtractionunit 76B is set to the pitch direction second HPF processing unit 80B2.

Information of the threshold value necessary for the determination isstored in the ROM. Information of the exposure time (shutter speed) isacquired from the exposure setting unit 54.

<Action>

FIG. 12 is a flowchart showing a procedure of the blur correctionincluding the blur detection.

Initially, the angular velocity of the digital camera 10 is detected inthe angular velocity detection unit 30 (step S31).

Subsequently, the posture of the digital camera 10 with respect to theEarth's rotation axis is detected based on the output of thegeomagnetism detection unit 40 (step S32).

Subsequently, the Earth's rotation angular velocity componentsuperimposed on the detection result of the angular velocity detectionunit 30 is calculated based on the detection result of the posture ofthe digital camera 10 with respect to the Earth's rotation axis (stepS33).

Subsequently, the Earth's rotation angular velocity components aresubtracted from the detection results of the angular velocities in theyaw direction subtraction unit 76A and the pitch direction subtractionunit 76B (step S34).

Subsequently, it is determined whether or not the exposure time (shutterspeed) is equal to or less than the threshold value in theyaw-direction-subtraction-unit output destination switch unit 82A andthe pitch-direction-subtraction-unit output destination switch unit 82B(step S35).

In a case where the exposure time is equal to or less than the thresholdvalue, the output destination of the yaw direction subtraction unit 76Ais set to the yaw direction first HPF processing unit 80A1 by theyaw-direction-subtraction-unit output destination switch unit 82A. Theoutput destination of the pitch direction subtraction unit 76B is set tothe pitch direction first HPF processing unit 80B1 by thepitch-direction-subtraction-unit output destination switch unit 82B.Accordingly, the HPF processing is performed on the subtracted detectionresults of the angular velocities in the yaw direction Yaw and the pitchdirection Pit by the yaw direction first HPF processing unit 80A1 andthe pitch direction first HPF processing unit 80B1 (step S36). In a casewhere the exposure time is the short time, since the blurring with thelow frequency is rarely influenced on the captured image, the HPFprocessing is performed in the yaw direction first HPF processing unit80A1 of which the cutoff frequency is set to be high. Accordingly, it ispossible to appropriately detect the blurring by efficiently removing anoise component at the time of detecting the blurring.

Meanwhile, in a case where the exposure time exceeds the thresholdvalue, the output destination of the yaw direction subtraction unit 76Ais set to the yaw direction second HPF processing unit 80A2 by theyaw-direction-subtraction-unit output destination switch unit 82A. Theoutput destination of the pitch direction subtraction unit 76B is set tothe pitch direction second HPF processing unit 80B2 by thepitch-direction-subtraction-unit output destination switch unit 82B.Accordingly, the HPF processing is performed on the subtracted detectionresults of the angular velocities in the yaw direction Yaw and the pitchdirection Pit by the yaw direction second HPF processing unit 80A2 andthe pitch direction second HPF processing unit 80B2 (step S37). In acase where the exposure time is the long time, since the blurring withthe low frequency is rarely influenced on the captured image, the HPFprocessing is performed in the yaw direction second HPF processing unit80A2 of which the cutoff frequency is set to be low. Accordingly, it ispossible to appropriately detect the blurring with the low frequency.

As stated above, the output destinations of the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B areset depending on the exposure time (shutter speed), and the HPFprocessing is performed in each output destination. Thereafter, the bluramount is calculated from the detection result of the angular velocityafter the HPF processing (step S38). That is, the output of the yawdirection first HPF processing unit 80A1 or the yaw direction second HPFprocessing unit 80A2 is given to the yaw direction blur amountcalculation unit 78A, and the blur amount in the yaw direction Yaw iscalculated from the angular velocity in the yaw direction Yaw after theHPF processing. The output of the pitch direction first HPF processingunit 80B1 or the pitch direction second HPF processing unit 80B2 isgiven to the pitch direction blur amount calculation unit 78B, and theblur amount in the pitch direction Pit is calculated from the angularvelocity in the pitch direction Pit after the HPF processing.

After the calculation of the blur amount, the blur correction amount iscalculated in the blur correction amount calculation unit 90 based onthe calculated blur amount (step S39). The blur correction mechanism 110is driven based on the calculated blur correction amount (step S40).Accordingly, the occurred blurring is canceled, and the blurring iscorrected.

As stated above, in accordance with the blur detection unit 70 v 3 ofthe present example, the output destinations of the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B areswitched depending on the exposure time. Accordingly, it is possible toappropriately detect the blurring. That is, in a case where the exposuretime is short, the HPF processing is performed in the yaw directionfirst HPF processing unit 80A1 of which the cutoff frequency is set tobe high, and thus, it is possible to efficiently remove the component asthe noise at the time of detecting the blurring. Accordingly, it ispossible to appropriately detect the blurring. Meanwhile, in a casewhere the exposure time is long, the HPF processing is performed in theyaw direction second HPF processing unit 80A2 of which the cutofffrequency is set to be low, and thus, it is possible to appropriatelydetect the blurring with the low frequency.

<Preferred Threshold Value of Exposure Time>

It is preferable that the threshold value of the exposure time is setwith consideration for the influence of the Earth's rotation on thedetection of the blurring.

In a case where it is assumed that a time required for detecting theblurring for a pixel pitch due to the Earth's rotation is a limitexposure time, it is preferable that this limit exposure time is used asthe threshold value of the exposure time.

Here, the pixel pitch is a distance between center lines of the pixelsof the image sensor. The time required for detecting the blurring forthe pixel pitch due to the Earth's rotation is a time at which an anglecalculated by integrating the Earth's rotation angular velocity becomesan angle of one pixel pitch of the image sensor.

In a case where the Earth' rotation angular velocity is ωe[deg/sec] andan angle per one pixel pitch of the image sensor is θe[deg], a limitexposure time Tex[sec] is calculated by Tex=θe/ωe.

The threshold value of the exposure time is set to the limit exposuretime Tex, and thus, the influence of the Earth's rotation is eliminatedin a case where the exposure is performed for a time longer than thelimit exposure time Tex. Accordingly, it is possible to appropriatelydetect blurring with a lower frequency.

<Switching of Output Destination of Subtraction Unit Based on ImagingCondition>

Although it has been descried in the aforementioned example that theyaw-direction-subtraction-unit output destination switch unit 82A andthe pitch-direction-subtraction-unit output destination switch unit 82Bswitch the output destinations of the yaw direction subtraction unit 76Aand the pitch direction subtraction unit 76B based on the exposure time,the yaw-direction-subtraction-unit output destination switch unit 82Aand the pitch-direction-subtraction-unit output destination switch unit82B may switch the output destinations of the yaw direction subtractionunit 76A and the pitch direction subtraction unit 76B based on otherimaging conditions.

For example, the output destinations of the yaw direction subtractionunit 76A and the pitch direction subtraction unit 76B may be switcheddepending on the imaging mode. For example, it is determined whether ornot a mode in which the long-time exposure is performed is selected asthe imaging mode, and the output destinations of the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B areswitched depending on the determination result. The mode in which thelong-time exposure is performed corresponds to a mode in which theimaging is performed with low shutter speed, for example, the night viewmode. The night view mode is the imaging mode in which the exposurecontrol appropriate for the night view imaging is performed.

In a case where the mode such as the night view mode in which thelong-time exposure is performed is not selected, the output destinationsof the yaw direction subtraction unit 76A and the pitch directionsubtraction unit 76B are set to the yaw direction first HPF processingunit 80A1 and the pitch direction first HPF processing unit 80B1. In acase where the mode in which the long-time exposure is performed is notselected, the exposure is the short-time exposure, and the blurring withthe low frequency is rarely influenced on the captured image.Accordingly, in this case, the HPF processing is performed on thedetection results of the angular velocities by using the yaw directionfirst HPF processing unit 80A1 and the pitch direction first HPFprocessing unit 80B1 of which the cutoff frequency is set to be high.Accordingly, it is possible to appropriately detect the blurringnecessary for the correction.

Meanwhile, in a case where the mode such as the night view mode in whichthe long-time exposure is performed is selected, the output destinationsof the yaw direction subtraction unit 76A and the pitch directionsubtraction unit 76B are set to the yaw direction second HPF processingunit 80A2 and the pitch direction second HPF processing unit 80B2. In acase where the mode in which the long-time exposure is performed isselected, the exposure is the long-time exposure, and the blurring withthe low frequency is rarely influenced on the captured image.Accordingly, in this case, the HPF processing is performed on thedetection results of the angular velocities by using the yaw directionsecond HPF processing unit 80A2 and the pitch direction second HPFprocessing unit 80B2 of which the cutoff frequency is set to be low.Accordingly, it is possible to appropriately detect the blurring withthe low frequency.

Although it has been described in the present example that the imagingmode is used as the imaging condition, the output destinations of theyaw direction subtraction unit 76A and the pitch direction subtractionunit 76B may be switched based on other imaging condition. The outputdestinations of the yaw direction subtraction unit 76A and the pitchdirection subtraction unit 76B may be switched by complexly determininga plurality of imaging conditions.

«Fourth Modification Example»

<Configuration>

FIG. 13 is a block diagram showing a fourth modification example of theblur detection unit.

As shown in this drawing, a blur detection unit 70 v 4 of the presentexample is different from the blur detection unit 70 v 3 of the thirdmodification example in that three output destinations of the yawdirection subtraction unit 76A and the pitch direction subtraction unit76B switched by the yaw-direction-subtraction-unit output destinationswitch unit 82A and the pitch-direction-subtraction-unit outputdestination switch unit 82B are provided.

The yaw-direction-subtraction-unit output destination switch unit 82Aswitches the output destination of the yaw direction subtraction unit76A based on the exposure time and the zero output. Specifically, it isinitially determined whether or not the exposure time is equal to orless than the threshold value. As the determination result, in a casewhere the exposure time is equal to or less than the threshold value,the output destination of the yaw direction subtraction unit 76A is setto the yaw direction first HPF processing unit 80A1. Meanwhile, in acase where the exposure time exceeds the threshold value, it is furtherdetermined whether or not the output of the yaw direction subtractionunit 76A is equal to or less than the threshold value. In a case wherethe output of the yaw direction subtraction unit 76A is equal to or lessthan the threshold value, the output destination of the yaw directionsubtraction unit 76A is set to the yaw direction blur amount calculationunit 78A. Meanwhile, in a case where the output of the yaw directionsubtraction unit 76A exceeds the threshold value, the output destinationof the yaw direction subtraction unit 76A is set to the yaw directionsecond HPF processing unit 80A2.

The same is true of the pitch-direction-subtraction-unit outputdestination switch unit 82B, it is initially determined whether or notthe exposure time is equal to or less than the threshold value. As thedetermination result, in a case where the exposure time is equal to orless than the threshold value, the output destination of the pitchdirection subtraction unit 76B is set to the pitch direction first HPFprocessing unit 80B1. Meanwhile, in a case where the exposure timeexceeds the threshold value, it is further determined whether or not theoutput of the pitch direction subtraction unit 76B is equal to or lessthan the threshold value. In a case where the output of the pitchdirection subtraction unit 76B is equal to or less than the thresholdvalue, the output destination of the pitch direction subtraction unit76B is set to the pitch direction blur amount calculation unit 78B.Meanwhile, in a case where the output of the pitch direction subtractionunit 76B exceeds the threshold value, the output destination of thepitch direction subtraction unit 76B is set to the pitch directionsecond HPF processing unit 80B2.

In a case where the exposure time is equal to or less than the thresholdvalue, the exposure is the short-time exposure, and the blurring withthe low frequency is rarely influenced on the captured image.Accordingly, in this case, the yaw direction first HPF processing unit80A1 and the pitch direction first HPF processing unit 80B1 of which thecutoff frequency is set to be high are set to the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B.Accordingly, it is possible to appropriately detect the blurring byefficiently removing a component as noise at the time of detecting theblurring.

Meanwhile, in a case where the exposure time exceeds the thresholdvalue, the exposure is the long-time exposure, and the blurring with thelow frequency is influenced on the captured image. In this case, the HPFprocessing is not preferably performed in order to detect the blurringwith the lower frequency. However, in a case where the zero variation ofthe angular velocity sensor is large, erroneous detection occurs. Thus,in the present example, in a case where the exposure time exceeds thethreshold value, it is determined whether or not the outputs of the yawdirection subtraction unit 76A and the pitch direction subtraction unit76B are equal to or less than the threshold value, and the outputdestinations of the yaw direction subtraction unit 76A and the pitchdirection subtraction unit 76B are set to the yaw direction blur amountcalculation unit 78A and the pitch direction blur amount calculationunit 78B only in a case where the exposure time is equal to or less thanthe threshold value. Accordingly, it is possible to appropriately detectvibration with the low frequency.

Information of the threshold value necessary for the determination isstored in the ROM.

<Action>

FIG. 14 is a flowchart showing a procedure of the blur detectionincluding the blur detection.

Initially, the angular velocity of the digital camera 10 is detected inthe angular velocity detection unit 30 (step S41).

Subsequently, the posture of the digital camera 10 with respect to theEarth's rotation axis is detected based on the output of thegeomagnetism detection unit 40 (step S42).

Subsequently, the Earth's rotation angular velocity componentsuperimposed on the detection result of the angular velocity detectionunit 30 is calculated based on the detection result of the posture ofthe digital camera 10 with respect to the Earth's rotation axis (stepS43).

The Earth's rotation angular velocity components are subtracted from thedetection results of the angular velocities in the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B (stepS44).

Subsequently, it is determined whether or not the exposure time (shutterspeed) is equal to or less than the threshold value in theyaw-direction-subtraction-unit output destination switch unit 82A andthe pitch-direction-subtraction-unit output destination switch unit 82B(step S45). It is assumed that this determination is firstdetermination.

In a case where the exposure time is equal to or less than the thresholdvalue, the output destinations of the yaw direction subtraction unit 76Aand the pitch direction subtraction unit 76B are set to the yawdirection first HPF processing unit 80A1 and the pitch direction firstHPF processing unit 80B1 by the yaw-direction-subtraction-unit outputdestination switch unit 82A and the pitch-direction-subtraction-unitoutput destination switch unit 82B1. Accordingly, the HPF processing isperformed on the subtracted detection results of the angular velocitiesin the yaw direction Yaw and the pitch direction Pit by the yawdirection first HPF processing unit 80A1 and the pitch direction firstHPF processing unit 80B (step S46). Thereafter, the blur amount iscalculated from the detection result of the angular velocity after theHPF processing (step S49). That is, the outputs of the yaw directionfirst HPF processing unit 80A1 and the pitch direction first HPFprocessing unit 80B1 are given to the yaw direction blur amountcalculation unit 78A and the pitch direction blur amount calculationunit 78B, and the blur amounts in the yaw direction Yaw and the pitchdirection Pit are calculated.

Meanwhile, in a case where the exposure time exceeds the thresholdvalue, it is further determined whether or not the subtracted detectionresult of the angular velocity is equal to or less than the thresholdvalue (step S47). That is, it is determined whether or not the outputsof the yaw direction subtraction unit 76A and the pitch directionsubtraction unit 76B are equal to or less than the threshold value. Itis assumed that this determination is second determination.

In a case where the subtracted detection result of the angular velocityexceeds the threshold value, the output destinations of the yawdirection subtraction unit 76A and the pitch direction subtraction unit76B are set to the yaw direction second HPF processing unit 80A2 and thepitch direction second HPF processing unit 80B2. Accordingly, the HPFprocessing is performed on the outputs of the yaw direction subtractionunit 76A and the pitch direction subtraction unit 76B by the yawdirection second HPF processing unit 80A2 and the pitch direction secondHPF processing unit 80B2 (step S48). Thereafter, the blur amount iscalculated from the detection result of the angular velocity after theHPF processing (step S49). That is, the outputs of the yaw directionsecond HPF processing unit 80A2 and the pitch direction second HPFprocessing unit 80B2 are given to the yaw direction blur amountcalculation unit 78A and the pitch direction blur amount calculationunit 78B, and the blur amounts in the yaw direction Yaw and the pitchdirection Pit are calculated.

Meanwhile, in a case where the subtracted detection result of theangular velocity is equal to or less than the threshold value, theoutput destinations of the yaw direction subtraction unit 76A and thepitch direction subtraction unit 76B are set to the yaw direction bluramount calculation unit 78A and the pitch direction blur amountcalculation unit 78B. Accordingly, the blur amounts in the yaw directionYaw and the pitch direction Pit are directly calculated from the outputsof the yaw direction subtraction unit 76A and the pitch directionsubtraction unit 76B (step S49).

After the calculation of the blur amount, the correction amount iscalculated based on the calculated blur amount in the blur correctionamount calculation unit 90 (step S50). The blur correction mechanism 110is driven based on the calculated blur correction amount (step SM).Accordingly, the occurred blurring is canceled, and the blurring iscorrected.

As stated above, in accordance with the blur detection unit 70 v 4 ofthe present example, the output destinations of the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B areswitched based on the exposure time and the zero variation. Accordingly,it is possible to appropriately detect the blurring. That is, in a casewhere the exposure time is short, the HPF processing is performed in theyaw direction first HPF processing unit 80A1 of which the cutofffrequency is set to be high, and thus, it is possible to efficientlyremove the component as the noise at the time of detecting the blurring.Accordingly, it is possible to appropriately detect the blurring.Meanwhile, in a case where the exposure time is long, since it isdetermined whether or not to perform the HPF processing depending onwhether or not there is the zero variation, it is possible toappropriately detect the blurring with the low frequency.

Although it has been described in the present example that the firstdetermination is performed based on the exposure time, the firstdetermination may be performed based on other imaging conditions such asthe imaging mode.

«Fifth Modification Example»

FIG. 15 is a block diagram showing a fifth modification example of theblur detection unit.

A blur detection unit 70 v 5 of the present example is different fromthe blur detection unit 70 v 3 of the third modification example in thata yaw-direction-subtraction-unit output destination setting unit 84A anda pitch-direction-subtraction-unit output destination setting unit 84Bare provided and the output destinations of the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B aremanually set by the user.

The yaw-direction-subtraction-unit output destination setting unit 84Aand the pitch-direction-subtraction-unit output destination setting unit84B switch the output destinations of the yaw direction subtraction unit76A and the pitch direction subtraction unit 76B based on the operationof the operation unit 24. That is, the yaw direction subtraction unit76A is set to the yaw direction first HPF processing unit 80A1 or theyaw direction second HPF processing unit 80A2. The pitch direction firstHPF processing unit 80B1 or the pitch direction second HPF processingunit 80B2 is set to the pitch direction subtraction unit 76B.

The operation unit 24 comprises, for example, a changeover switch asoperation means for switching the output destinations of the yawdirection subtraction unit 76A and the pitch direction subtraction unit76B. For example, the changeover switch can switch between “HIGH” and“LOW”. In a case where the changeover switch is set to “HIGH”, theoutput destinations of the yaw direction subtraction unit 76A and thepitch direction subtraction unit 76B are set to the yaw direction firstHPF processing unit 80A1 and the pitch direction first HPF processingunit 80B1. In a case where the changeover switch is set to “LOW”, theoutput destinations of the yaw direction subtraction unit 76A and thepitch direction subtraction unit 76B are set to the yaw direction secondHPF processing unit 80A2 and the pitch direction second HPF processingunit 80B2.

In a case where the imaging is performed with a low shutter speed as inthe night view imaging, the user sets the changeover switch to “LOW”.Accordingly, it is possible to appropriately detect the blurring withthe low frequency by eliminating the influence due to the Earth'srotation.

Meanwhile, in normal imaging, the changeover switch is set to “HIGH”.Accordingly, it is possible to appropriately detect the blurring byappropriately removing a component as noise at the time of detecting theblurring.

Although it has been described in the present example that the outputdestinations of the yaw direction subtraction unit 76A and the pitchdirection subtraction unit 76B are switched by the changeover switch,operation means for switching the output destinations of the yawdirection subtraction unit 76A and the pitch direction subtraction unit76B are not limited to thereto. In addition, for example, it is possibleto set the output destination by using a menu screen.

«Sixth Modification Example»

FIG. 16 is a block diagram showing a sixth modification example of theblur detection unit.

A blur detection unit 70 v 6 of the present example is different fromthe blur detection unit 70 v 5 of the fifth modification example in thata yaw-direction-subtraction-unit output automatic switch unit 86A and apitch-direction-subtraction-unit output automatic switch unit 86B thatautomatically switch the output destinations of the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B arefurther provided.

In a case where the output destinations of the yaw direction subtractionunit 76A and the pitch direction subtraction unit 76B are set to the yawdirection second HPF processing unit 80A2 and the pitch direction secondHPF processing unit 80B2 by the yaw-direction-subtraction-unit outputdestination setting unit 84A and the pitch-direction-subtraction-unitoutput destination setting unit 84B, the yaw direction subtraction unitoutput automatic switch unit 86A and thepitch-direction-subtraction-unit output automatic switch unit 86Bautomatically switch the output destinations of the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B to theyaw direction blur amount calculation unit 78A and the pitch directionblur amount calculation unit 78B under a predetermined condition.Specifically, it is determined whether or not the outputs of the yawdirection subtraction unit 76A and the pitch direction subtraction unit76B are equal to or less than the threshold value, and the outputdestinations of the yaw direction subtraction unit 76A and the pitchdirection subtraction unit 76B are switched to the yaw direction bluramount calculation unit 78A and the pitch direction blur amountcalculation unit 78B in a case where the outputs are equal to or lessthan the threshold value. Accordingly, it is possible to appropriatelydetect the blur amount depending on a state of the angular velocitysensor. That is, a case where the outputs of the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B areequal to or less than the threshold value is a case where the zerovariation is deemed not to be present or to be negligibly small.Accordingly, in this case, the output destinations of the yaw directionsubtraction unit 76A and the pitch direction subtraction unit 76B areset to the yaw direction blur amount calculation unit 78A and the pitchdirection blur amount calculation unit 78B. Accordingly, it is possibleto appropriately detect the blurring at a lower frequency. Meanwhile, acase where the outputs of the yaw direction subtraction unit 76A and thepitch direction subtraction unit 76B exceed the threshold value is acase where the zero variation is large. Accordingly, in this case, theoutput destinations of the yaw direction subtraction unit 76A and thepitch direction subtraction unit 76B are set to the yaw direction secondHPF processing unit 80A2 and the pitch direction second HPF processingunit 80B2 as set above. As a result, it is possible to appropriatelydetect the blurring by eliminating the influence of the zero pointfluctuation.

[Modification Example of Blur Correction Mechanism]

Although it has been described in the aforementioned embodiment that theblurring is corrected by moving the correction lens, the configurationof the blur correction mechanism is not limited thereto. For example, aknown blur correction mechanism such as a blur correction mechanismusing a variable-angle prism may be used.

♦♦Second Embodiment♦♦

[Configuration]

FIG. 17 is a block diagram showing a schematic configuration of a secondembodiment of the digital camera.

As shown in this drawing, a digital camera 200 of the present embodimentcorrects the blurring by moving the image sensor 12 (so-called imagesensor shift method).

Configurations other than the blur correction mechanism aresubstantially the same as those of the digital camera 10 of the firstembodiment. Accordingly, only a configuration of a blur correctionmechanism 210 for correcting the blurring will be described.

FIG. 18 is a diagram showing a schematic configuration of the blurcorrection mechanism.

The blur correction mechanism 210 comprises an image sensor x-axis drivemechanism 210 x and an image sensor y-axis drive mechanism 210 y.

The image sensor x-axis drive mechanism 210 x is a mechanism that movesthe image sensor 12 in the x-axis direction. The image sensor x-axisdrive mechanism 210 x comprises a linear motor (for example, voice coilmotor) as an actuator and a drive circuit thereof. The image sensorx-axis drive mechanism 210 x drives the linear motor according to acommand from the camera microcomputer 50, and moves the image sensor 12in the x-axis direction.

The image sensor y-axis drive mechanism 210 y is a mechanism that movesthe image sensor 12 in the y-axis direction. The image sensor y-axisdrive mechanism 210 y comprises a linear motor (for example, voice coilmotor) as an actuator and a drive circuit thereof. The image sensory-axis drive mechanism 210 y drives the linear motor according to acommand from the camera microcomputer 50, and moves the image sensor 12in the y-axis direction.

Since the digital camera 200 of the present embodiment corrects theblurring by moving the image sensor 12, the blur correction lens 104 andthe blur correction mechanism 110 are not included in the imagingoptical system 100.

[Action]

The blurring is corrected in the same procedure as that of the digitalcamera 10 of the first embodiment except that the blurring is correctedby moving the image sensor 12.

Initially, an angular velocity of the digital camera 200 is detected.Subsequently, a posture of the digital camera 200 with respect to theEarth's rotation axis is detected. Subsequently, the Earth's rotationangular velocity component superimposed on the detection result of theangular velocity is calculated based on the detected posture.Subsequently, the Earth's rotation angular velocity component issubtracted from the detection result of the angular velocity.Accordingly, an angular velocity of a true shake acting on the digitalcamera 200 is acquired. Subsequently, the blur amount is calculated fromthe angular velocity after the subtraction processing. Subsequently, theblur correction amount is calculated based on the calculated bluramount. Subsequently, the blur correction mechanism 210 is driven basedon the calculated blur correction amount. Accordingly, the image sensor12 is moved in a direction in which the blurring is canceled, and theblurring is corrected.

♦♦Third Embodiment♦♦

[Configuration]

FIG. 19 is a block diagram showing a schematic configuration of a thirdembodiment of the digital camera.

A digital camera 300 of the present embodiment is a digital camera withan interchangeable lens, and comprises a camera body 310 and aninterchangeable lens 320. The camera body 310 is an example of animaging device main body, and the interchangeable lens 320 is an exampleof a lens device. The interchangeable lens 320 is attachable anddetachable to and from the camera body 310 through a mount.

The mount includes a body-side mount 312 provided at the camera body 310and a lens-side mount 322 provided at the interchangeable lens 320. Abody-side contact point 314 is provided at the body-side mount 312, anda lens-side contact point 324 is provided at the lens-side mount 322. Ina case where the interchangeable lens 320 is attached to the camera body310 through the mount, the lens-side contact point 324 is connected tothe body-side contact point 314. Accordingly, the camera body 310 andthe interchangeable lens 320 are electrically connected and areconnected so as to communicate with each other.

In the digital camera 300 of the present embodiment, the interchangeablelens 320 has a blur detection mechanism and a blur correction function.Thus, in the digital camera 300 of the present embodiment, theinterchangeable lens 320 comprises an imaging optical system 100, anangular velocity detection unit 30, a geomagnetism detection unit 40,and a lens microcomputer 330.

Meanwhile, the camera body 310 comprises an image sensor 12, an imagesensor drive unit 14, an analog signal processing unit 16, a digitalsignal processing unit 18, a display unit 20, a storage unit 22, anoperation unit 24, and a camera microcomputer 50.

FIG. 20 is a block diagram of main functions realized by the lensmicrocomputer and the camera microcomputer.

The lens microcomputer 330 is a computer (microcomputer) comprising aCPU, a RAM, and a ROM. The lens microcomputer 330 functions as a blurcorrection controller 60, a blur detection unit 70, a blur correctionamount calculation unit 90, a focus lens drive controller 330 a, and astop drive controller 330 b by executing predetermined programs. Theprograms executed by the lens microcomputer 330 and various datanecessary for control are stored in the ROM.

The blur detection unit 70 detects the blur amount of the digital camera300 by attaching the interchangeable lens 320 to the camera body 310.The blur detection unit 70, the angular velocity detection unit 30, andthe posture detection unit constitute a blur detection device.

The blur correction amount calculation unit 90 calculates the blurcorrection amount based on the blur amount detected by the blurdetection unit 70.

The blur correction controller 60 corrects the blurring by controllingthe driving of the blur correction mechanism 110 based on the correctionamount calculated by the blur correction amount calculation unit 90.

The focus lens drive controller 330 a controls the driving of the focuslens drive mechanism 108 according to a command from the cameramicrocomputer 50.

The stop drive controller 330 b controls the driving of the stop drivemechanism 112 according to a command from the camera microcomputer 50.

As stated above, in the digital camera 300 of the present embodiment,the interchangeable lens 320 has a blur detection mechanism and a blurcorrection function.

[Action]

A procedure of the blur correction is the same as that of the digitalcamera 10 of the first embodiment.

Initially, an angular velocity of the digital camera 300 is detected.Subsequently, a posture of the digital camera 300 with respect to theEarth's rotation axis is detected. Subsequently, the Earth's rotationangular velocity component superimposed on the detection result of theangular velocity is calculated based on the detected posture.Subsequently, the Earth's rotation angular velocity component issubtracted from the detection result of the angular velocity.Accordingly, an angular velocity of a true shake acting on the digitalcamera 300 is acquired. Subsequently, the blur amount is calculated fromthe angular velocity after the subtraction processing. Subsequently, theblur correction amount is calculated based on the calculated bluramount. Subsequently, the blur correction mechanism 110 is driven basedon the calculated blur correction amount. Accordingly, the blurring iscorrected.

As stated above, in accordance with the digital camera 300 of thepresent embodiment, it is possible to detect and correct the blurring inthe interchangeable lens 320.

Although it has been described in the present embodiment that theinterchangeable lens 320 has the blur detection function, the camerabody 310 may have the blur detection function.

Although it has been described in the present embodiment that theinterchangeable lens 320 comprises both the angular velocity detectionunit 30 and the geomagnetism detection unit 40, the camera body 310 maycomprise these units. The camera body 310 may comprise any one of theseunits, and the interchangeable lens 320 may comprise the other onethereof.

♦♦Fourth Embodiment♦♦

[Configuration]

FIG. 21 is a block diagram showing a schematic configuration of a fourthembodiment of the digital camera.

A digital camera 300A of the present embodiment is also the digitalcamera with the interchangeable lens, and comprises a camera body 310Aand an interchangeable lens 320A. The digital camera 300A of the presentembodiment is different from the digital camera 300 of the thirdembodiment in that the camera body 310A has the blur detection andcorrection functions.

As shown in FIG. 21, the camera body 310A comprises an angular velocitydetection unit 30, a geomagnetism detection unit 40, and a blurcorrection mechanism 210 in addition to an image sensor 12, an imagesensor drive unit 14, an analog signal processing unit 16, a digitalsignal processing unit 18, a display unit 20, a storage unit 22, anoperation unit 24, and a camera microcomputer 50. The blur correctionmechanism 210 corrects the blurring by moving the image sensor 12.

The interchangeable lens 320A comprises an imaging optical system 100and a lens microcomputer 330.

FIG. 22 is a block diagram of main functions realized by the lensmicrocomputer and the camera microcomputer.

The camera microcomputer 50 functions as a blur correction controller60, a blur detection unit 70, and a blur correction amount calculationunit 90 in addition to functioning as a focus controller 52, an exposuresetting unit 54, an image sensor drive controller 56, a stop controller58, a display controller 62, and a storage controller 64 by executingpredetermined programs.

The blur detection unit 70 detects the blur amount of the digital camera300A. The blur detection unit 70, the angular velocity detection unit30, and the posture detection unit constitute a blur detection device.

The blur correction amount calculation unit 90 calculates the blurcorrection amount based on the blur amount detected by the blurdetection unit 70.

The blur correction controller 60 corrects the blurring by controllingthe driving of the blur correction mechanism 210 based on the correctionamount calculated by the blur correction amount calculation unit 90.

The lens microcomputer 330 functions as a focus lens drive controller330 a and a stop drive controller 330 b by executing predeterminedprograms.

As stated above, in the digital camera 300 of the present embodiment,the camera body 310A has a blur detection mechanism and a blurcorrection function.

[Action]

A procedure of the blur correction is the same as that of the digitalcamera 10 of the first embodiment.

Initially, an angular velocity of the digital camera 300A is detected.Subsequently, a posture of the digital camera 300A with respect to theEarth's rotation axis is detected. Subsequently, the Earth's rotationangular velocity component superimposed on the detection result of theangular velocity is calculated based on the detected posture.Subsequently, the Earth's rotation angular velocity component issubtracted from the detection result of the angular velocity.Accordingly, an angular velocity of a true shake acting on the digitalcamera 300A is acquired. Subsequently, the blur amount is calculatedfrom the angular velocity after the subtraction processing.Subsequently, the blur correction amount is calculated based on thecalculated blur amount. Subsequently, the blur correction mechanism 210is driven based on the calculated blur correction amount. Accordingly,the blurring is corrected.

Although it has been described in the present embodiment that the camerabody 310A has the blur detection function, the interchangeable lens 320Amay have the blur detection function.

Although it has been described in the present embodiment that the camerabody 310A comprises both the angular velocity detection unit 30 and thegeomagnetism detection unit 40, the interchangeable lens 320A maycomprise these units. The camera body 310 may comprise any one of theseunits, and the interchangeable lens 320 may comprise the other onethereof.

♦♦Other Embodiments♦♦

Although it has been described in the aforementioned embodiments, thefunctions of the blur detection unit and the blur correction amountcalculation unit are realized by the computer, hardware configurationsfor realizing the functions of the blur detection unit and the blurcorrection amount calculation unit are limited to thereto. The functionsthereof may be realized by various processors. The various processorsinclude a CPU which is a general-purpose processor functioning as aprocessing unit that perform various processing by executing software(programs), a programmable logic device (PLD) which is a processorcapable of changing a circuit configuration after a field programmablegate array (FPGA) is manufactured, and a dedicated electrical circuitwhich is a processor having a circuit configuration designed as adedicated circuit in order to perform specific processing such as anapplication specific integrated circuit (ASIC).

One processing unit may be one of these various processors, or may bethe same kind or different kinds of two or more processors. For example,one processing unit may be constituted by a plurality of FPGAs, or maybe constituted by combining a CPU and an FPGA.

A plurality of processing unit may be constituted by one processor. Asan example in which the plurality of processing units is constituted byone processor, a first example is that one processor is constituted bycombining one or more CPUs and software and one processor may functionas the plurality of processing units as represented by a computer suchas a server. A second example is that a processor that realizes thefunctions of the entire system including the plurality of processingunits by using one integrated circuit (IC) chip as represented by asystem on chip (SoC). As stated above, various processing units areconstituted by using one or more various processors described above as ahardware structure.

More specifically, the hardware structure of these various processors isan electrical circuit acquired by combining circuit elements such assemiconductor elements.

Explanation of References

10: digital camera

12: image sensor

14: image sensor drive unit

16: analog signal processing unit

18: digital signal processing unit

20: display unit

22: storage unit

24: operation unit

30: angular velocity detection unit

30A: yaw direction angular velocity detection unit

30B: pitch direction angular velocity detection unit

32A: yaw direction angular velocity sensor

32B: pitch direction angular velocity sensor

34A: ADC (AD converter)

34B: ADC (AD converter)

40: geomagnetism detection unit

42: geomagnetism sensor

44: ADC (AD converter)

50: camera microcomputer

52: focus controller

54: exposure setting unit

56: image sensor drive controller

58: stop controller

60: blur correction controller

62: display controller

64: storage controller

70: blur detection unit

7 v 1: blur detection unit

70 v 2: blur detection unit

70 v 3: blur detection unit

70 v 4: blur detection unit

70 v 5: blur detection unit

70 v 6: blur detection unit

72: posture calculation unit

74: rotation angular velocity component calculation unit

76A: yaw direction subtraction unit

76B: pitch direction subtraction unit

78A: yaw direction blur amount calculation unit

78B: pitch direction blur amount calculation unit

80A: yaw direction HPF processing unit

80A1: yaw direction first HPF processing unit (yaw direction first highpass filter processing unit)

80A2: yaw direction second HPF processing unit (yaw direction secondhigh pass filter processing unit)

80B: pitch direction HPF processing unit

80B1: pitch direction first HPF processing unit (pitch direction firsthigh filter processing unit)

80B2: pitch direction second HPF processing unit (pitch direction secondhigh filter processing unit)

82A: yaw-direction-subtraction-unit output destination switch unit

82B: pitch-direction-subtraction-unit output destination switch unit

84A: yaw-direction-subtraction-unit output destination setting unit

84B: pitch-direction-subtraction-unit output destination setting unit

86A: yaw-direction-subtraction-unit output automatic switch unit

86B: pitch-direction-subtraction-unit output automatic switch unit

90: blur correction amount calculation unit

100: imaging optical system

102: focus lens

104: blur correction lens

106: stop

108: focus lens drive mechanism

110: blur correction mechanism

110 x: blur correction lens x-axis drive mechanism

110 y: blur correction lens y-axis drive mechanism

112: stop drive mechanism

200: digital camera

210: blur correction mechanism

210 x: image sensor x-axis drive mechanism

210 y: image sensor y-axis drive mechanism

300: digital camera

300A: digital camera

310: camera body

310A: camera body

312: body-side mount

314: body-side contact point

320: interchangeable lens

320A: interchangeable lens

322: lens-side mount

324: lens-side contact point

330: lens microcomputer

330 a: focus lens drive controller

330 b: stop drive controller

L: optical axis

Pit: pitch direction

Yaw: yaw direction

S1 to S7: procedure of blur correction including blur detection

S11 to S18: procedure of blur correction including blur detection

S21 to S29: procedure of blur correction including blur detection

S31 to S40: procedure of blur correction including blur detection

S41 to SM: procedure of blur correction including blur detection

What is claimed is:
 1. An imaging device comprising: an imaging devicemain body; an angular velocity detector that detects an angular velocityof the imaging device main body; a posture detector that detects aposture of the imaging device main body with respect to an Earth'srotation axis; a rotation angular velocity component calculator thatcalculates an Earth's rotation angular velocity component based on theposture of the imaging device main body detected by the posturedetector; a subtractor that subtracts the rotation angular velocitycomponent calculated by the rotation angular velocity componentcalculator from an output of the angular velocity detector; a bluramount calculator that calculates a blur amount of the imaging devicemain body based on an output of the subtractor; an image sensor that, ina case where an imaging optical system is attached to the imaging devicemain body, receives light passing through the imaging optical system tocapture an image; a first blur corrector that corrects blurring bymoving the image sensor; a second blur corrector that, in a case wherean imaging optical system including a blur correction lens is attachedto the imaging device main body, corrects blurring by moving the blurcorrection lens; and a blur correction controller that controls drivingof at least one of the first blur corrector and the second blurcorrector according to the blur amount calculated by the blur correctionamount calculator.
 2. The imaging device according to claim 1, furthercomprising a high pass filter that performs high pass filter processingon the output of the subtractor, a cutoff frequency of the high passfilter being set to be a value lower than a frequency of blurring causedby Earth's rotation.
 3. The imaging device according to claim 2, furthercomprising a switcher that switches an output destination of thesubtractor, wherein the switcher determines whether or not the output ofthe subtractor is equal to or less than a subtractor output thresholdvalue, sets the output destination of the subtractor to the blur amountcalculator in a case where the output of the subtractor is equal to orless than the subtractor output threshold value, and sets the outputdestination of the subtractor to the high pass filter in a case wherethe output of the subtractor exceeds the subtractor output thresholdvalue.
 4. The imaging device according to claim 1, further comprising: afirst high pass filter that performs high pass filter processing on theoutput of the subtractor, a cutoff frequency of the first high passfilter being set to be a value higher than a frequency of blurringcaused by Earth's rotation; a second high pass filter that performs highpass filter processing on the output of the subtractor, a cutofffrequency of the second high pass filter being set to be a value lowerthan the frequency of the blurring caused by the Earth's rotation; and aswitcher that switches an output destination of the subtractor to thefirst high pass filter or the second high pass filter based on animaging condition.
 5. The imaging device according to claim 4, whereinthe switcher determines whether or not an exposure time is equal to orless than an exposure time threshold value, sets the output destinationof the subtractor to the first high pass filter in a case where theexposure time is equal to or less than the exposure time thresholdvalue, and sets the output destination of the subtractor to the secondhigh pass filter in a case where the exposure time exceeds the exposuretime threshold value.
 6. The imaging device according to claim 5,wherein, in the case where the exposure time exceeds the exposure timethreshold value, the switcher further determines whether or not theoutput of the subtractor is equal to or less than a subtractor outputthreshold value, sets the output destination of the subtractor to theblur amount calculator in a case where the output of the subtractor isequal to or less than the subtractor output threshold value, and setsthe output destination of the subtractor to the second high pass filterin a case where the output of the subtractor exceeds the subtractoroutput threshold value.
 7. The imaging device according to claim 5,wherein, in a case where a time required for detecting blurring for apixel pitch due to the Earth's rotation is a limit exposure time, thelimit exposure time is set as the exposure time threshold value.
 8. Theimaging device according to claim 6, wherein, in a case where a timerequired for detecting blurring for a pixel pitch due to the Earth'srotation is a limit exposure time, the limit exposure time is set as theexposure time threshold value.
 9. The imaging device according to claim4, wherein the switcher determines whether or not a mode in whichlong-time exposure is performed is selected as an imaging mode, sets theoutput destination of the subtractor to the first high pass filter in acase where the mode in which the long-time exposure is performed is notselected, and sets the output destination of the subtractor to thesecond high pass filter in a case where the mode in which the long-timeexposure is performed is selected.
 10. The imaging device according toclaim 9, wherein, in the case where the mode in which the long-timeexposure is performed is selected, the switcher further determineswhether or not the output of the subtractor is equal to or less than asubtractor output threshold value, sets the output destination of thesubtractor to the blur amount calculator in a case where the output ofthe subtractor is equal to or less than the subtractor output thresholdvalue, and sets the output destination of the subtractor to the secondhigh pass filter in a case where the output of the subtractor exceedsthe subtractor output threshold value.
 11. The imaging device accordingto claim 1, further comprising: a first high pass filter that performshigh pass filter processing on the output of the subtractor, a cutofffrequency of the first high pass filter being set to be a value higherthan a frequency of blurring caused by Earth's rotation; a second highpass filter that performs high pass filter processing on the output ofthe subtractor, a cutoff frequency of the second high pass filter beingset to be a value lower than the frequency of the blurring caused by theEarth's rotation; and a setter that sets an output destination of thesubtractor to the first high pass filter or the second high pass filter.12. The imaging device according to claim 11, further comprising anautomatic switcher that determines whether or not the output of thesubtractor is equal to or less than a subtractor output threshold valuein a case where the output destination of the subtractor is set to thesecond high pass filter, and switches the output destination of thesubtractor to the blur amount calculator in a case where the output ofthe subtractor is equal to or less than the subtractor output thresholdvalue.
 13. The imaging device according to claim 1, wherein the imagingoptical system includes a lens device attachable and detachable to andfrom the imaging device main body.
 14. An imaging method comprising: astep of detecting an angular velocity of an imaging device main body; astep of detecting a posture of the imaging device main body with respectto an Earth's rotation axis; a step of calculating an Earth's rotationangular velocity component based on the detected posture of the imagingdevice main body; a step of subtracting the calculated rotation angularvelocity component from the detection result of the angular velocity ofthe imaging device main body; a step of calculating a blur amount of theimaging device main body based on the subtracted detection result of theangular velocity of the imaging device main body; and a step ofcontrolling driving of at least one of a first blur corrector and asecond blur corrector according to the calculated blur amount, whereinthe first blur corrector corrects blurring by moving an image sensorthat receives light to capture an image, the light passing through animaging optical system attached to the imaging device main body, whereinthe second blur corrector corrects blurring by moving a blur correctionlens included in an imaging optical system attached to the imagingdevice main body.
 15. A non-transitory computer-readable recordingmedium causing a computer to execute: in a case where a command storedin the non-transitory computer-readable recording medium is read by thecomputer, a function of receiving an output from an angular velocitydetector that detects an angular velocity of an imaging device; afunction of receiving an output of a posture detector that detects aposture of the imaging device with respect to an Earth's rotation axis;a function of calculating an Earth's rotation angular velocity componentbased on the posture of the imaging device detected by the posturedetector; a function of subtracting the calculated rotation angularvelocity component from the output of the angular velocity detector; afunction of calculating a blur amount of the imaging device based on thesubtracted output of the angular velocity detector; and a function ofcontrolling driving of at least one of a first blur corrector and asecond blur corrector according to the calculated blur amount, whereinthe first blur corrector corrects blurring by moving an image sensorthat receives light to capture an image, the light passing through animaging optical system attached to the imaging device main body, whereinthe second blur corrector corrects blurring by moving a blur correctionlens included in an imaging optical system attached to the imagingdevice main body.